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Merge pull request #1604 from paparazzi/switch_to_modules

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replace subsystem by module in all airframes
This commit is contained in:
Gautier Hattenberger
2016-04-20 00:18:30 +02:00
parent 525ea114bc 8e27fba359
commit a93b4bace1
174 changed files with 2589 additions and 2633 deletions
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conf/airframes/AGGIEAIR/aggieair_ark_quad_lisa_mx.xml
+10 -10
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@@ -12,24 +12,24 @@
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_mx_2.1"> <target name="ap" board="lisa_mx_2.1">
<subsystem name="radio_control" type="sbus"> <module name="radio_control" type="sbus">
<configure name="SBUS_PORT" value="UART5"/> <configure name="SBUS_PORT" value="UART5"/>
</subsystem> </module>
</target> </target>
<target name="nps" board="pc"> <target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/> <module name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="spektrum"/> <module name="radio_control" type="spektrum"/>
</target> </target>
<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="stabilization" type="float_euler"/> <module name="stabilization" type="float_euler"/>
<subsystem name="ins" type="vectornav"/> <module name="ins" type="vectornav"/>
</firmware> </firmware>
conf/airframes/AGGIEAIR/aggieair_rp3_lia.xml
+12 -12
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@@ -10,35 +10,35 @@ RP3 Lisa MX
<define name="CONTROL_FREQUENCY" value="100"/> <define name="CONTROL_FREQUENCY" value="100"/>
<configure name="PERIODIC_FREQUENCY" value="100"/> <configure name="PERIODIC_FREQUENCY" value="100"/>
<target name="ap" board="lisa_mx_2.0"> <target name="ap" board="lisa_mx_2.0">
<subsystem name="radio_control" type="sbus"> <module name="radio_control" type="sbus">
<configure name="SBUS_PORT" value="UART5"/> <configure name="SBUS_PORT" value="UART5"/>
</subsystem> </module>
</target> </target>
<target name="nps" board="pc"> <target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/> <module name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/> <module name="radio_control" type="ppm"/>
</target> </target>
<subsystem name="control"/> <module name="control"/>
<subsystem name="navigation"/> <module name="navigation"/>
<subsystem name="telemetry" type="transparent"> <module name="telemetry" type="transparent">
<configure name="MODEM_PORT" value="UART3"/> <configure name="MODEM_PORT" value="UART3"/>
<configure name="MODEM_BAUD" value="B57600"/> <configure name="MODEM_BAUD" value="B57600"/>
</subsystem> </module>
<subsystem name="ins" type="vectornav"> <module name="ins" type="vectornav">
<configure name="VN_PORT" value="UART2"/> <configure name="VN_PORT" value="UART2"/>
<configure name="VN_BAUD" value="B921600"/> <configure name="VN_BAUD" value="B921600"/>
</subsystem> </module>
<define name="AGR_CLIMB" /> <define name="AGR_CLIMB" />
</firmware> </firmware>
<modules> <modules>
<load name="nav_line.xml"/> <module name="nav" type="line"/>
<load name="sys_mon.xml"/> <module name="sys_mon"/>
</modules> </modules>
<!-- commands section --> <!-- commands section -->
conf/airframes/BR/DelFlyDualPWMservo.xml
+18 -18
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@@ -191,44 +191,44 @@
</section> </section>
<modules main_freq="512"> <modules main_freq="512">
<load name="gps_ubx_ucenter.xml"/> <module name="gps" type="ubx_ucenter"/>
<load name="send_imu_mag_current.xml"/> <module name="send_imu_mag_current"/>
</modules> </modules>
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_s_1.0"> <target name="ap" board="lisa_s_1.0">
<subsystem name="radio_control" type="superbitrf_rc"> <module name="radio_control" type="superbitrf_rc">
<define name="RADIO_MODE" value="RADIO_GEAR"/> <define name="RADIO_MODE" value="RADIO_GEAR"/>
<!--<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>--> <!--<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>-->
<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/> <define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
</subsystem> </module>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/> <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
</target> </target>
<subsystem name="motor_mixing"/> <module name="motor_mixing"/>
<subsystem name="actuators" type="pwm"> <module name="actuators" type="pwm">
<define name="SERVO_HZ" value="50"/> <define name="SERVO_HZ" value="50"/>
<define name="USE_SERVOS_1AND2"/> <define name="USE_SERVOS_1AND2"/>
</subsystem> </module>
<subsystem name="actuators" type="dualpwm"> <module name="actuators" type="dualpwm">
<define name="DUAL_PWM_ON"/> <define name="DUAL_PWM_ON"/>
</subsystem> </module>
<!--<subsystem name="telemetry" type="superbitrf"/>--> <!--<module name="telemetry" type="superbitrf"/>-->
<!-- Comment the previous line and uncomment the following one if you need <!-- Comment the previous line and uncomment the following one if you need
to use the debug serial interface for telemetry. --> to use the debug serial interface for telemetry. -->
<subsystem name="telemetry" type="superbitrf"/> <module name="telemetry" type="superbitrf"/>
<subsystem name="imu" type="lisa_s_v1.0"> <module name="imu" type="lisa_s_v1.0">
<define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) --> <define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) -->
</subsystem> </module>
<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">
<configure name="USE_MAGNETOMETER" value="1"/> <configure name="USE_MAGNETOMETER" value="1"/>
<define name="AHRS_USE_GPS_HEADING" value="0"/> <define name="AHRS_USE_GPS_HEADING" value="0"/>
</subsystem> </module>
<subsystem name="ins"/> <module name="ins"/>
</firmware> </firmware>
</airframe> </airframe>
conf/airframes/BR/DreamCacher_bart.xml
+18 -18
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@@ -175,28 +175,28 @@
</section> </section>
<modules main_freq="512"> <modules main_freq="512">
<load name="gps_ubx_ucenter.xml"/> <module name="gps" type="ubx_ucenter"/>
<load name="send_imu_mag_current.xml"/> <module name="send_imu_mag_current"/>
</modules> </modules>
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_s_1.0"> <target name="ap" board="lisa_s_1.0">
<subsystem name="radio_control" type="superbitrf_rc"> <module name="radio_control" type="superbitrf_rc">
<define name="RADIO_MODE" value="RADIO_GEAR"/> <define name="RADIO_MODE" value="RADIO_GEAR"/>
<!--<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>--> <!--<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>-->
<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/> <define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
</subsystem> </module>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/> <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
</target> </target>
<target name="nps" board="pc"> <target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/> <module name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/> <module name="radio_control" type="ppm"/>
</target> </target>
<subsystem name="motor_mixing"/> <module name="motor_mixing"/>
<subsystem name="actuators" type="pwm"> <module name="actuators" type="pwm">
<!-- This airframe is using the servo PWM outputs directly to drive mosfets, which in turn directly drive brushed motors. <!-- This airframe is using the servo PWM outputs directly to drive mosfets, which in turn directly drive brushed motors.
With the following settings we will be driving the motors with a 36KHz signal that should be well above anyone's hearing range. With the following settings we will be driving the motors with a 36KHz signal that should be well above anyone's hearing range.
If we went with the 500Hz that woul be the default we would be hearing a very annoying high pitched sound coming from the motors. If we went with the 500Hz that woul be the default we would be hearing a very annoying high pitched sound coming from the motors.
@@ -206,21 +206,21 @@
<!-- Setting the PWM interval to 36KHz --> <!-- Setting the PWM interval to 36KHz -->
<define name="SERVO_HZ" value="36000"/> <define name="SERVO_HZ" value="36000"/>
<define name="USE_SERVOS_1AND2"/> <define name="USE_SERVOS_1AND2"/>
</subsystem> </module>
<!--<subsystem name="telemetry" type="superbitrf"/>--> <!--<module name="telemetry" type="superbitrf"/>-->
<!-- Comment the previous line and uncomment the following one if you need <!-- Comment the previous line and uncomment the following one if you need
to use the debug serial interface for telemetry. --> to use the debug serial interface for telemetry. -->
<subsystem name="telemetry" type="superbitrf"/> <module name="telemetry" type="superbitrf"/>
<subsystem name="imu" type="lisa_s_v1.0"> <module name="imu" type="lisa_s_v1.0">
<define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) --> <define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) -->
</subsystem> </module>
<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">
<configure name="USE_MAGNETOMETER" value="1"/> <configure name="USE_MAGNETOMETER" value="1"/>
<define name="AHRS_USE_GPS_HEADING" value="0"/> <define name="AHRS_USE_GPS_HEADING" value="0"/>
</subsystem> </module>
<subsystem name="ins"/> <module name="ins"/>
</firmware> </firmware>
</airframe> </airframe>
conf/airframes/BR/asctec_br.xml
+16 -16
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@@ -13,30 +13,30 @@
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0"/> <target name="ap" board="lisa_m_2.0"/>
<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_KILL_SWITCH" value="RADIO_AUX1"/> <define name="RADIO_KILL_SWITCH" value="RADIO_AUX1"/>
<define name="RADIO_MODE" value="RADIO_GEAR"/> <define name="RADIO_MODE" value="RADIO_GEAR"/>
</subsystem> </module>
<subsystem name="motor_mixing"/> <module name="motor_mixing"/>
<subsystem name="actuators" type="asctec_v2"/> <module name="actuators" type="asctec_v2"/>
<subsystem name="actuators" type="pwm"/> <module name="actuators" type="pwm"/>
<subsystem name="telemetry" type="xbee_api"/> <module name="telemetry" type="xbee_api"/>
<subsystem name="imu" type="aspirin_v2.1"/> <module name="imu" type="aspirin_v2.1"/>
<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="extended"/> <module name="ins" type="extended"/>
</firmware> </firmware>
<modules> <modules>
<load name="geo_mag.xml"/> <module name="geo_mag"/>
<load name="air_data.xml"/> <module name="air_data"/>
<load name="servo_switch.xml"/> <module name="servo_switch"/>
<load name="gps_ubx_ucenter.xml"/> <module name="gps" type="ubx_ucenter"/>
</modules> </modules>
<servos driver="Asctec_v2"> <servos driver="Asctec_v2">
conf/airframes/BR/bebop_default.xml
+26 -26
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@@ -6,48 +6,48 @@
<target name="ap" board="bebop"/> <target name="ap" board="bebop"/>
<target name="nps" board="pc"> <target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/> <module name="fdm" type="jsbsim"/>
<subsystem name="udp"/> <module name="udp"/>
</target> </target>
<!--define name="USE_SONAR" value="TRUE"/--> <!--define name="USE_SONAR" value="TRUE"/-->
<!-- Subsystem section --> <!-- Subsystem section -->
<subsystem name="telemetry" type="transparent_udp"/> <module name="telemetry" type="transparent_udp"/>
<subsystem name="radio_control" type="datalink"/> <module name="radio_control" type="datalink"/>
<subsystem name="motor_mixing"/> <module name="motor_mixing"/>
<subsystem name="actuators" type="bebop"/> <module name="actuators" type="bebop"/>
<subsystem name="imu" type="bebop"/> <module name="imu" type="bebop"/>
<subsystem name="gps" type="furuno"/> <module name="gps" type="furuno"/>
<subsystem name="stabilization" type="int_quat"/> <module name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="float_mlkf"/> <module name="ahrs" type="float_mlkf"/>
<subsystem name="ins" type="extended"/> <module name="ins" type="extended"/>
</firmware> </firmware>
<modules main_freq="512"> <modules main_freq="512">
<load name="geo_mag.xml"/> <module name="geo_mag"/>
<load name="air_data.xml"/> <module name="air_data"/>
<load name="send_imu_mag_current.xml"/> <module name="send_imu_mag_current"/>
<!--load name="logger_file.xml"> <!--module name="logger_file">
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/> <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
</load--> </module-->
<load name="video_thread.xml"> <module name="video_thread">
<define name="VIDEO_THREAD_CAMERA" value="bottom_camera"/> <define name="VIDEO_THREAD_CAMERA" value="bottom_camera"/>
<define name="VIDEO_THREAD_FPS" value="4"/> <define name="VIDEO_THREAD_FPS" value="4"/>
<define name="VIDEO_THREAD_SHOT_PATH" value="/data/ftp/internal_000/images"/> <define name="VIDEO_THREAD_SHOT_PATH" value="/data/ftp/internal_000/images"/>
</load> </module>
<load name="video_rtp_stream.xml"> <module name="video_rtp_stream">
<define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/> <define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/>
<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/> <define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
</load> </module>
<load name="nav_survey_rectangle_rotorcraft.xml"> <module name="nav" type="survey_rectangle_rotorcraft">
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/> <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
</load> </module>
<load name="digital_cam_video.xml"> <module name="digital_cam_video">
<define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="10"/> <define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="10"/>
</load> </module>
<load name="video_exif.xml"/> <module name="video_exif"/>
<load name="cv_colorfilter.xml"/> <module name="cv_colorfilter"/>
</modules> </modules>
<commands> <commands>
conf/airframes/BR/bebop_indi.xml
+31 -31
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@@ -6,57 +6,57 @@
<target name="ap" board="bebop"/> <target name="ap" board="bebop"/>
<target name="nps" board="pc"> <target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/> <module name="fdm" type="jsbsim"/>
<subsystem name="udp"/> <module name="udp"/>
</target> </target>
<!--define name="USE_SONAR" value="TRUE"/--> <!--define name="USE_SONAR" value="TRUE"/-->
<!-- Subsystem section --> <!-- Subsystem section -->
<subsystem name="telemetry" type="transparent_udp"/> <module name="telemetry" type="transparent_udp"/>
<subsystem name="radio_control" type="datalink"/> <module name="radio_control" type="datalink"/>
<subsystem name="motor_mixing"/> <module name="motor_mixing"/>
<subsystem name="actuators" type="bebop"/> <module name="actuators" type="bebop"/>
<subsystem name="imu" type="bebop"/> <module name="imu" type="bebop"/>
<subsystem name="gps" type="furuno"/> <module name="gps" type="furuno"/>
<subsystem name="stabilization" type="indi"/> <module name="stabilization" type="indi"/>
<subsystem name="stabilization" type="rate_indi"/> <module name="stabilization" type="rate_indi"/>
<subsystem name="ahrs" type="float_mlkf"/> <module name="ahrs" type="float_mlkf"/>
<subsystem name="ahrs" type="int_cmpl_quat"> <module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="TRUE"/> <configure name="USE_MAGNETOMETER" value="TRUE"/>
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/> <define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
<configure name="SECONDARY_AHRS" value="int_cmpl_quat"/> <configure name="SECONDARY_AHRS" value="int_cmpl_quat"/>
</subsystem> </module>
<subsystem name="ins" type="extended"/> <module name="ins" type="extended"/>
</firmware> </firmware>
<modules main_freq="512"> <modules main_freq="512">
<load name="geo_mag.xml"/> <module name="geo_mag"/>
<load name="air_data.xml"/> <module name="air_data"/>
<load name="send_imu_mag_current.xml"/> <module name="send_imu_mag_current"/>
<!--load name="logger_file.xml"> <!--module name="logger_file">
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/> <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
</load--> </module-->
<load name="video_thread.xml"> <module name="video_thread">
<define name="VIDEO_THREAD_FPS" value="4"/> <define name="VIDEO_THREAD_FPS" value="4"/>
<define name="VIDEO_THREAD_CAMERA" value="bottom_camera"/> <define name="VIDEO_THREAD_CAMERA" value="bottom_camera"/>
<define name="VIDEO_THREAD_SHOT_PATH" value="/data/ftp/internal_000/images"/> <define name="VIDEO_THREAD_SHOT_PATH" value="/data/ftp/internal_000/images"/>
</load> </module>
<load name="cv_blob_locator.xml"/> <module name="cv_blob_locator"/>
<load name="video_rtp_stream.xml"> <module name="video_rtp_stream">
<define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/> <define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/>
<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/> <define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
</load> </module>
<load name="nav_survey_rectangle_rotorcraft.xml"> <module name="nav" type="survey_rectangle_rotorcraft">
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/> <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
</load> </module>
<load name="nav_survey_poly_rotorcraft.xml"> <module name="nav" type="survey_poly_rotorcraft">
<define name="POLYSURVEY_DEFAULT_DISTANCE" value="10"/> <define name="POLYSURVEY_DEFAULT_DISTANCE" value="10"/>
</load> </module>
<load name="digital_cam_video.xml"> <module name="digital_cam_video">
<define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="5"/> <define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="5"/>
</load> </module>
<load name="video_exif.xml"/> <module name="video_exif"/>
</modules> </modules>
<commands> <commands>
conf/airframes/BR/bebop_indi_frog.xml
+30 -30
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@@ -6,56 +6,56 @@
<target name="ap" board="bebop"/> <target name="ap" board="bebop"/>
<target name="nps" board="pc"> <target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/> <module name="fdm" type="jsbsim"/>
<subsystem name="udp"/> <module name="udp"/>
</target> </target>
<!--define name="USE_SONAR" value="TRUE"/--> <!--define name="USE_SONAR" value="TRUE"/-->
<!-- Subsystem section --> <!-- Subsystem section -->
<subsystem name="telemetry" type="transparent_udp"/> <module name="telemetry" type="transparent_udp"/>
<subsystem name="radio_control" type="datalink"/> <module name="radio_control" type="datalink"/>
<subsystem name="motor_mixing"/> <module name="motor_mixing"/>
<subsystem name="actuators" type="bebop"/> <module name="actuators" type="bebop"/>
<subsystem name="imu" type="bebop"/> <module name="imu" type="bebop"/>
<subsystem name="gps" type="furuno"/> <module name="gps" type="furuno"/>
<subsystem name="stabilization" type="indi"/> <module name="stabilization" type="indi"/>
<subsystem name="ahrs" type="float_mlkf"/> <module name="ahrs" type="float_mlkf"/>
<subsystem name="ahrs" type="int_cmpl_quat"> <module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="TRUE"/> <configure name="USE_MAGNETOMETER" value="TRUE"/>
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/> <define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
<configure name="SECONDARY_AHRS" value="int_cmpl_quat"/> <configure name="SECONDARY_AHRS" value="int_cmpl_quat"/>
</subsystem> </module>
<subsystem name="ins" type="extended"/> <module name="ins" type="extended"/>
</firmware> </firmware>
<modules main_freq="512"> <modules main_freq="512">
<load name="geo_mag.xml"/> <module name="geo_mag"/>
<load name="air_data.xml"/> <module name="air_data"/>
<load name="send_imu_mag_current.xml"/> <module name="send_imu_mag_current"/>
<!--load name="logger_file.xml"> <!--module name="logger_file">
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/> <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
</load--> </module-->
<load name="video_thread.xml"> <module name="video_thread">
<define name="VIDEO_THREAD_FPS" value="4"/> <define name="VIDEO_THREAD_FPS" value="4"/>
<define name="VIDEO_THREAD_CAMERA" value="bottom_camera"/> <define name="VIDEO_THREAD_CAMERA" value="bottom_camera"/>
<define name="VIDEO_THREAD_SHOT_PATH" value="/data/ftp/internal_000/images"/> <define name="VIDEO_THREAD_SHOT_PATH" value="/data/ftp/internal_000/images"/>
</load> </module>
<load name="cv_blob_locator.xml"/> <module name="cv_blob_locator"/>
<load name="video_rtp_stream.xml"> <module name="video_rtp_stream">
<define name="VIEWVIDEO_QUALITY_FACTOR" value="60"/> <define name="VIEWVIDEO_QUALITY_FACTOR" value="60"/>
<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="2"/> <define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="2"/>
</load> </module>
<load name="nav_survey_rectangle_rotorcraft.xml"> <module name="nav" type="survey_rectangle_rotorcraft">
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/> <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
</load> </module>
<load name="nav_survey_poly_rotorcraft.xml"> <module name="nav" type="survey_poly_rotorcraft">
<define name="POLYSURVEY_DEFAULT_DISTANCE" value="10"/> <define name="POLYSURVEY_DEFAULT_DISTANCE" value="10"/>
</load> </module>
<load name="digital_cam_video.xml"> <module name="digital_cam_video">
<define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="5"/> <define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="5"/>
</load> </module>
<load name="video_exif.xml"/> <module name="video_exif"/>
</modules> </modules>
<commands> <commands>
conf/airframes/BR/bebop_indi_frog2.xml
+29 -29
View File
@@ -6,54 +6,54 @@
<target name="ap" board="bebop"/> <target name="ap" board="bebop"/>
<target name="nps" board="pc"> <target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/> <module name="fdm" type="jsbsim"/>
<subsystem name="udp"/> <module name="udp"/>
</target> </target>
<!--define name="USE_SONAR" value="TRUE"/--> <!--define name="USE_SONAR" value="TRUE"/-->
<!-- Subsystem section --> <!-- Subsystem section -->
<subsystem name="telemetry" type="transparent_udp"/> <module name="telemetry" type="transparent_udp"/>
<subsystem name="radio_control" type="datalink"/> <module name="radio_control" type="datalink"/>
<subsystem name="motor_mixing"/> <module name="motor_mixing"/>
<subsystem name="actuators" type="bebop"/> <module name="actuators" type="bebop"/>
<subsystem name="imu" type="bebop"/> <module name="imu" type="bebop"/>
<subsystem name="gps" type="furuno"/> <module name="gps" type="furuno"/>
<subsystem name="stabilization" type="indi"/> <module name="stabilization" type="indi"/>
<subsystem name="ahrs" type="int_cmpl_quat"> <module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="TRUE"/> <configure name="USE_MAGNETOMETER" value="TRUE"/>
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/> <define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
</subsystem> </module>
<subsystem name="ins" type="extended"/> <module name="ins" type="extended"/>
</firmware> </firmware>
<modules main_freq="512"> <modules main_freq="512">
<load name="geo_mag.xml"/> <module name="geo_mag"/>
<load name="air_data.xml"/> <module name="air_data"/>
<load name="send_imu_mag_current.xml"/> <module name="send_imu_mag_current"/>
<!--load name="logger_file.xml"> <!--module name="logger_file">
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/> <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
</load--> </module-->
<load name="video_thread.xml"> <module name="video_thread">
<define name="VIDEO_THREAD_FPS" value="4"/> <define name="VIDEO_THREAD_FPS" value="4"/>
<define name="VIDEO_THREAD_CAMERA" value="bottom_camera"/> <define name="VIDEO_THREAD_CAMERA" value="bottom_camera"/>
<define name="VIDEO_THREAD_SHOT_PATH" value="/data/ftp/internal_000/images"/> <define name="VIDEO_THREAD_SHOT_PATH" value="/data/ftp/internal_000/images"/>
</load> </module>
<load name="cv_blob_locator.xml"/> <module name="cv_blob_locator"/>
<load name="video_rtp_stream.xml"> <module name="video_rtp_stream">
<define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/> <define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/>
<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/> <define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
</load> </module>
<load name="nav_survey_rectangle_rotorcraft.xml"> <module name="nav" type="survey_rectangle_rotorcraft">
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/> <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
</load> </module>
<load name="nav_survey_poly_rotorcraft.xml"> <module name="nav" type="survey_poly_rotorcraft">
<define name="POLYSURVEY_DEFAULT_DISTANCE" value="10"/> <define name="POLYSURVEY_DEFAULT_DISTANCE" value="10"/>
</load> </module>
<load name="digital_cam_video.xml"> <module name="digital_cam_video">
<define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="5"/> <define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="5"/>
</load> </module>
<load name="video_exif.xml"/> <module name="video_exif"/>
</modules> </modules>
<commands> <commands>
conf/airframes/BR/bebop_indi_frog_flip.xml
+22 -22
View File
@@ -6,45 +6,45 @@
<target name="ap" board="bebop"/> <target name="ap" board="bebop"/>
<target name="nps" board="pc"> <target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/> <module name="fdm" type="jsbsim"/>
<subsystem name="udp"/> <module name="udp"/>
</target> </target>
<!--define name="USE_SONAR" value="TRUE"/--> <!--define name="USE_SONAR" value="TRUE"/-->
<!-- Subsystem section --> <!-- Subsystem section -->
<subsystem name="telemetry" type="transparent_udp"/> <module name="telemetry" type="transparent_udp"/>
<subsystem name="radio_control" type="datalink"/> <module name="radio_control" type="datalink"/>
<subsystem name="motor_mixing"/> <module name="motor_mixing"/>
<subsystem name="actuators" type="bebop"/> <module name="actuators" type="bebop"/>
<subsystem name="imu" type="bebop"/> <module name="imu" type="bebop"/>
<subsystem name="gps" type="furuno"/> <module name="gps" type="furuno"/>
<subsystem name="stabilization" type="indi"/> <module name="stabilization" type="indi"/>
<subsystem name="ahrs" type="float_mlkf"/> <module name="ahrs" type="float_mlkf"/>
<subsystem name="ahrs" type="int_cmpl_quat"> <module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="TRUE"/> <configure name="USE_MAGNETOMETER" value="TRUE"/>
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/> <define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
<configure name="SECONDARY_AHRS" value="int_cmpl_quat"/> <configure name="SECONDARY_AHRS" value="int_cmpl_quat"/>
</subsystem> </module>
<subsystem name="ins" type="extended"/> <module name="ins" type="extended"/>
</firmware> </firmware>
<modules main_freq="512"> <modules main_freq="512">
<load name="geo_mag.xml"/> <module name="geo_mag"/>
<load name="air_data.xml"/> <module name="air_data"/>
<load name="send_imu_mag_current.xml"/> <module name="send_imu_mag_current"/>
<!--load name="logger_file.xml"> <!--module name="logger_file">
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/> <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
</load--> </module-->
<load name="video_thread.xml"> <module name="video_thread">
<define name="VIDEO_THREAD_FPS" value="4"/> <define name="VIDEO_THREAD_FPS" value="4"/>
<define name="VIDEO_THREAD_CAMERA" value="bottom_camera"/> <define name="VIDEO_THREAD_CAMERA" value="bottom_camera"/>
<define name="VIDEO_THREAD_SHOT_PATH" value="/data/ftp/internal_000/images"/> <define name="VIDEO_THREAD_SHOT_PATH" value="/data/ftp/internal_000/images"/>
</load> </module>
<load name="video_rtp_stream.xml"> <module name="video_rtp_stream">
<define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/> <define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/>
<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/> <define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
</load> </module>
</modules> </modules>
<commands> <commands>
conf/airframes/BR/ladybird_kit_bart.xml
+18 -18
View File
@@ -180,28 +180,28 @@
</section> </section>
<modules main_freq="512"> <modules main_freq="512">
<load name="gps_ubx_ucenter.xml"/> <module name="gps" type="ubx_ucenter"/>
<load name="send_imu_mag_current.xml"/> <module name="send_imu_mag_current"/>
</modules> </modules>
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_s_1.0"> <target name="ap" board="lisa_s_1.0">
<subsystem name="radio_control" type="superbitrf_rc"> <module name="radio_control" type="superbitrf_rc">
<define name="RADIO_MODE" value="RADIO_GEAR"/> <define name="RADIO_MODE" value="RADIO_GEAR"/>
<!--<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>--> <!--<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>-->
<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/> <define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
</subsystem> </module>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/> <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
</target> </target>
<target name="nps" board="pc"> <target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/> <module name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/> <module name="radio_control" type="ppm"/>
</target> </target>
<subsystem name="motor_mixing"/> <module name="motor_mixing"/>
<subsystem name="actuators" type="pwm"> <module name="actuators" type="pwm">
<!-- This airframe is using the servo PWM outputs directly to drive mosfets, which in turn directly drive brushed motors. <!-- This airframe is using the servo PWM outputs directly to drive mosfets, which in turn directly drive brushed motors.
With the following settings we will be driving the motors with a 36KHz signal that should be well above anyone's hearing range. With the following settings we will be driving the motors with a 36KHz signal that should be well above anyone's hearing range.
If we went with the 500Hz that woul be the default we would be hearing a very annoying high pitched sound coming from the motors. If we went with the 500Hz that woul be the default we would be hearing a very annoying high pitched sound coming from the motors.
@@ -211,21 +211,21 @@
<!-- Setting the PWM interval to 36KHz --> <!-- Setting the PWM interval to 36KHz -->
<define name="SERVO_HZ" value="36000"/> <define name="SERVO_HZ" value="36000"/>
<define name="USE_SERVOS_1AND2"/> <define name="USE_SERVOS_1AND2"/>
</subsystem> </module>
<!--<subsystem name="telemetry" type="superbitrf"/>--> <!--<module name="telemetry" type="superbitrf"/>-->
<!-- Comment the previous line and uncomment the following one if you need <!-- Comment the previous line and uncomment the following one if you need
to use the debug serial interface for telemetry. --> to use the debug serial interface for telemetry. -->
<subsystem name="telemetry" type="superbitrf"/> <module name="telemetry" type="superbitrf"/>
<subsystem name="imu" type="lisa_s_v1.0"> <module name="imu" type="lisa_s_v1.0">
<define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) --> <define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) -->
</subsystem> </module>
<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">
<configure name="USE_MAGNETOMETER" value="1"/> <configure name="USE_MAGNETOMETER" value="1"/>
<define name="AHRS_USE_GPS_HEADING" value="0"/> <define name="AHRS_USE_GPS_HEADING" value="0"/>
</subsystem> </module>
<subsystem name="ins"/> <module name="ins"/>
</firmware> </firmware>
</airframe> </airframe>
conf/airframes/BR/ladybird_kit_bart_bluegiga.xml
+18 -18
View File
@@ -180,26 +180,26 @@
</section> </section>
<modules main_freq="512"> <modules main_freq="512">
<load name="gps_ubx_ucenter.xml"/> <module name="gps" type="ubx_ucenter"/>
<load name="send_imu_mag_current.xml"/> <module name="send_imu_mag_current"/>
</modules> </modules>
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_s_1.0"> <target name="ap" board="lisa_s_1.0">
<subsystem name="radio_control" type="datalink"> <module name="radio_control" type="datalink">
<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/> <define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
</subsystem> </module>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/> <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
</target> </target>
<target name="nps" board="pc"> <target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/> <module name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/> <module name="radio_control" type="ppm"/>
</target> </target>
<subsystem name="motor_mixing"/> <module name="motor_mixing"/>
<subsystem name="actuators" type="pwm"> <module name="actuators" type="pwm">
<!-- This airframe is using the servo PWM outputs directly to drive mosfets, which in turn directly drive brushed motors. <!-- This airframe is using the servo PWM outputs directly to drive mosfets, which in turn directly drive brushed motors.
With the following settings we will be driving the motors with a 36KHz signal that should be well above anyone's hearing range. With the following settings we will be driving the motors with a 36KHz signal that should be well above anyone's hearing range.
If we went with the 500Hz that woul be the default we would be hearing a very annoying high pitched sound coming from the motors. If we went with the 500Hz that woul be the default we would be hearing a very annoying high pitched sound coming from the motors.
@@ -209,21 +209,21 @@
<!-- Setting the PWM interval to 36KHz --> <!-- Setting the PWM interval to 36KHz -->
<define name="SERVO_HZ" value="36000"/> <define name="SERVO_HZ" value="36000"/>
<define name="USE_SERVOS_1AND2"/> <define name="USE_SERVOS_1AND2"/>
</subsystem> </module>
<!--<subsystem name="telemetry" type="superbitrf"/>--> <!--<module name="telemetry" type="superbitrf"/>-->
<!-- Comment the previous line and uncomment the following one if you need <!-- Comment the previous line and uncomment the following one if you need
to use the debug serial interface for telemetry. --> to use the debug serial interface for telemetry. -->
<subsystem name="telemetry" type="bluegiga"/> <module name="telemetry" type="bluegiga"/>
<subsystem name="imu" type="lisa_s_v1.0"> <module name="imu" type="lisa_s_v1.0">
<define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) --> <define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) -->
</subsystem> </module>
<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">
<configure name="USE_MAGNETOMETER" value="1"/> <configure name="USE_MAGNETOMETER" value="1"/>
<define name="AHRS_USE_GPS_HEADING" value="0"/> <define name="AHRS_USE_GPS_HEADING" value="0"/>
</subsystem> </module>
<subsystem name="ins"/> <module name="ins"/>
</firmware> </firmware>
</airframe> </airframe>
conf/airframes/BR/ladybird_kit_bart_bluegiga_optitrack.xml
+16 -16
View File
@@ -188,24 +188,24 @@
</section> </section>
<modules main_freq="512"> <modules main_freq="512">
<load name="send_imu_mag_current.xml"/> <module name="send_imu_mag_current"/>
<load name="stereocam.xml"> <module name="stereocam">
<configure name="STEREO_UART" value="UART1"/> <configure name="STEREO_UART" value="UART1"/>
<configure name="STEREO_BAUD" value="B115200"/> <configure name="STEREO_BAUD" value="B115200"/>
</load> </module>
</modules> </modules>
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_s_1.0"> <target name="ap" board="lisa_s_1.0">
<subsystem name="radio_control" type="datalink"> <module name="radio_control" type="datalink">
</subsystem> </module>
<configure name="USE_MAGNETOMETER" value="0"/> <configure name="USE_MAGNETOMETER" value="0"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/> <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/> <define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
</target> </target>
<subsystem name="motor_mixing"/> <module name="motor_mixing"/>
<subsystem name="actuators" type="pwm"> <module name="actuators" type="pwm">
<!-- This airframe is using the servo PWM outputs directly to drive mosfets, which in turn directly drive brushed motors. <!-- This airframe is using the servo PWM outputs directly to drive mosfets, which in turn directly drive brushed motors.
With the following settings we will be driving the motors with a 36KHz signal that should be well above anyone's hearing range. With the following settings we will be driving the motors with a 36KHz signal that should be well above anyone's hearing range.
If we went with the 500Hz that woul be the default we would be hearing a very annoying high pitched sound coming from the motors. If we went with the 500Hz that woul be the default we would be hearing a very annoying high pitched sound coming from the motors.
@@ -215,19 +215,19 @@
<!-- Setting the PWM interval to 36KHz --> <!-- Setting the PWM interval to 36KHz -->
<define name="SERVO_HZ" value="36000"/> <define name="SERVO_HZ" value="36000"/>
<define name="USE_SERVOS_1AND2"/> <define name="USE_SERVOS_1AND2"/>
</subsystem> </module>
<!--<subsystem name="telemetry" type="superbitrf"/>--> <!--<module name="telemetry" type="superbitrf"/>-->
<!-- Comment the previous line and uncomment the following one if you need <!-- Comment the previous line and uncomment the following one if you need
to use the debug serial interface for telemetry. --> to use the debug serial interface for telemetry. -->
<subsystem name="telemetry" type="bluegiga"/> <module name="telemetry" type="bluegiga"/>
<subsystem name="imu" type="lisa_s_v1.0"> <module name="imu" type="lisa_s_v1.0">
<define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) --> <define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) -->
</subsystem> </module>
<subsystem name="gps" type="datalink"/> <module name="gps" type="datalink"/>
<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"/> <module name="ins"/>
</firmware> </firmware>
</airframe> </airframe>
conf/airframes/BR/ladybird_kit_indi_bart.xml
+20 -20
View File
@@ -187,30 +187,30 @@
</section> </section>
<modules main_freq="512"> <modules main_freq="512">
<load name="geo_mag.xml"/> <module name="geo_mag"/>
<load name="air_data.xml"/> <module name="air_data"/>
<load name="gps_ubx_ucenter.xml"/> <module name="gps" type="ubx_ucenter"/>
<load name="send_imu_mag_current.xml"/> <module name="send_imu_mag_current"/>
</modules> </modules>
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_s_1.0"> <target name="ap" board="lisa_s_1.0">
<subsystem name="radio_control" type="superbitrf_rc"> <module name="radio_control" type="superbitrf_rc">
<define name="RADIO_MODE" value="RADIO_GEAR"/> <define name="RADIO_MODE" value="RADIO_GEAR"/>
<!--<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>--> <!--<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>-->
<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/> <define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
</subsystem> </module>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/> <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
</target> </target>
<target name="nps" board="pc"> <target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/> <module name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/> <module name="radio_control" type="ppm"/>
</target> </target>
<subsystem name="motor_mixing"/> <module name="motor_mixing"/>
<subsystem name="actuators" type="pwm"> <module name="actuators" type="pwm">
<!-- This airframe is using the servo PWM outputs directly to drive mosfets, which in turn directly drive brushed motors. <!-- This airframe is using the servo PWM outputs directly to drive mosfets, which in turn directly drive brushed motors.
With the following settings we will be driving the motors with a 36KHz signal that should be well above anyone's hearing range. With the following settings we will be driving the motors with a 36KHz signal that should be well above anyone's hearing range.
If we went with the 500Hz that woul be the default we would be hearing a very annoying high pitched sound coming from the motors. If we went with the 500Hz that woul be the default we would be hearing a very annoying high pitched sound coming from the motors.
@@ -220,21 +220,21 @@
<!-- Setting the PWM interval to 36KHz --> <!-- Setting the PWM interval to 36KHz -->
<define name="SERVO_HZ" value="36000"/> <define name="SERVO_HZ" value="36000"/>
<define name="USE_SERVOS_1AND2"/> <define name="USE_SERVOS_1AND2"/>
</subsystem> </module>
<!--<subsystem name="telemetry" type="superbitrf"/>--> <!--<module name="telemetry" type="superbitrf"/>-->
<!-- Comment the previous line and uncomment the following one if you need <!-- Comment the previous line and uncomment the following one if you need
to use the debug serial interface for telemetry. --> to use the debug serial interface for telemetry. -->
<subsystem name="telemetry" type="superbitrf"/> <module name="telemetry" type="superbitrf"/>
<subsystem name="imu" type="lisa_s_v1.0"> <module name="imu" type="lisa_s_v1.0">
<define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) --> <define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) -->
</subsystem> </module>
<subsystem name="gps" type="ublox"/> <module name="gps" type="ublox"/>
<subsystem name="stabilization" type="indi"/> <module name="stabilization" type="indi"/>
<subsystem name="ahrs" type="int_cmpl_quat"> <module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="0"/> <configure name="USE_MAGNETOMETER" value="0"/>
<define name="AHRS_USE_GPS_HEADING" value="0"/> <define name="AHRS_USE_GPS_HEADING" value="0"/>
</subsystem> </module>
<subsystem name="ins" type="extended"/> <module name="ins" type="extended"/>
</firmware> </firmware>
</airframe> </airframe>
conf/airframes/BR/mavtec4_br.xml
+16 -16
View File
@@ -13,30 +13,30 @@
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_mx_2.1"/> <target name="ap" board="lisa_mx_2.1"/>
<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_KILL_SWITCH" value="RADIO_AUX1"/> <define name="RADIO_KILL_SWITCH" value="RADIO_AUX1"/>
<define name="RADIO_MODE" value="RADIO_GEAR"/> <define name="RADIO_MODE" value="RADIO_GEAR"/>
</subsystem> </module>
<subsystem name="motor_mixing"/> <module name="motor_mixing"/>
<subsystem name="actuators" type="asctec_v2"/> <module name="actuators" type="asctec_v2"/>
<subsystem name="actuators" type="pwm"/> <module name="actuators" type="pwm"/>
<subsystem name="telemetry" type="xbee_api"/> <module name="telemetry" type="xbee_api"/>
<subsystem name="imu" type="lisa_mx_v2.1"/> <module name="imu" type="lisa_mx_v2.1"/>
<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="float_mlkf"/> <module name="ahrs" type="float_mlkf"/>
<subsystem name="ins" type="hff"/> <module name="ins" type="hff"/>
</firmware> </firmware>
<modules> <modules>
<load name="geo_mag.xml"/> <module name="geo_mag"/>
<load name="air_data.xml"/> <module name="air_data"/>
<load name="servo_switch.xml"/> <module name="servo_switch"/>
<load name="gps_ubx_ucenter.xml"/> <module name="gps" type="ubx_ucenter"/>
</modules> </modules>
<servos driver="Asctec_v2"> <servos driver="Asctec_v2">
conf/airframes/CDW/cdw_asctec.xml
+14 -14
View File
@@ -10,26 +10,26 @@
<configure name="MODEM_PORT" value="UART3"/> <configure name="MODEM_PORT" value="UART3"/>
<configure name="GPS_PORT" value="UART2"/> <configure name="GPS_PORT" value="UART2"/>
<!-- <define name="ACTUATORS_START_DELAY" value="1"/> --> <!-- <define name="ACTUATORS_START_DELAY" value="1"/> -->
<subsystem name="radio_control" type="ppm"/> <module name="radio_control" type="ppm"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_EXTRA1"/> <define name="RADIO_KILL_SWITCH" value="RADIO_EXTRA1"/>
<define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="1"/> <define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="1"/>
<define name="USE_I2C_ACTUATORS_REBOOT_HACK"/> <define name="USE_I2C_ACTUATORS_REBOOT_HACK"/>
</target> </target>
<target name="nps" board="pc"> <target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/> <module name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/> <module name="radio_control" type="ppm"/>
</target> </target>
<subsystem name="motor_mixing"/> <module name="motor_mixing"/>
<subsystem name="actuators" type="asctec_v2"/> <module name="actuators" type="asctec_v2"/>
<subsystem name="telemetry" type="xbee_api"/> <module name="telemetry" type="xbee_api"/>
<subsystem name="imu" type="aspirin_v2.1"/> <module name="imu" type="aspirin_v2.1"/>
<subsystem name="gps" type="ublox"/> <module name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_euler"/> <module name="stabilization" type="int_euler"/>
<subsystem name="ahrs" type="int_cmpl_quat"/> <module name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins" type="hff"/> <module name="ins" type="hff"/>
</firmware> </firmware>
<section name="AUTOPILOT"> <section name="AUTOPILOT">
@@ -41,9 +41,9 @@
<!-- ************************* MODULES ************************* --> <!-- ************************* MODULES ************************* -->
<modules main_freq="512"> <modules main_freq="512">
<!-- <load name="logger_spi_link.xml"/> --> <!-- <module name="logger_spi_link"/> -->
<load name="imu_quality_assessment.xml"/> <module name="imu_quality_assessment"/>
<load name="gps_ubx_ucenter.xml" /> <module name="gps" type="ubx_ucenter" />
</modules> </modules>
<!-- ************************* ACTUATORS ************************* --> <!-- ************************* ACTUATORS ************************* -->
conf/airframes/CDW/cdw_bebop.xml
+29 -29
View File
@@ -8,55 +8,55 @@
</target> </target>
<target name="nps" board="pc"> <target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/> <module name="fdm" type="jsbsim"/>
<subsystem name="udp"/> <module name="udp"/>
<define name="STABILIZATION_INDI_G2_R" value="0.0"/> <define name="STABILIZATION_INDI_G2_R" value="0.0"/>
</target> </target>
<!--define name="USE_SONAR" value="TRUE"/--> <!--define name="USE_SONAR" value="TRUE"/-->
<!-- Subsystem section --> <!-- Subsystem section -->
<subsystem name="telemetry" type="transparent_udp"/> <module name="telemetry" type="transparent_udp"/>
<subsystem name="radio_control" type="datalink"/> <module name="radio_control" type="datalink"/>
<subsystem name="motor_mixing"/> <module name="motor_mixing"/>
<subsystem name="actuators" type="bebop"/> <module name="actuators" type="bebop"/>
<subsystem name="imu" type="bebop"/> <module name="imu" type="bebop"/>
<subsystem name="gps" type="furuno"/> <module name="gps" type="furuno"/>
<subsystem name="stabilization" type="indi"/> <module name="stabilization" type="indi"/>
<subsystem name="ahrs" type="int_cmpl_quat"> <module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="TRUE"/> <configure name="USE_MAGNETOMETER" value="TRUE"/>
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/> <define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
</subsystem> </module>
<subsystem name="ins" type="extended"/> <module name="ins" type="extended"/>
</firmware> </firmware>
<modules main_freq="512"> <modules main_freq="512">
<load name="geo_mag.xml"/> <module name="geo_mag"/>
<load name="air_data.xml"/> <module name="air_data"/>
<load name="send_imu_mag_current.xml"/> <module name="send_imu_mag_current"/>
<!--load name="logger_file.xml"> <!--module name="logger_file">
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/> <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
</load--> </module-->
<load name="video_thread.xml"> <module name="video_thread">
<define name="VIDEO_THREAD_FPS" value="4"/> <define name="VIDEO_THREAD_FPS" value="4"/>
<define name="VIDEO_THREAD_CAMERA" value="bottom_camera"/> <define name="VIDEO_THREAD_CAMERA" value="bottom_camera"/>
<define name="VIDEO_THREAD_SHOT_PATH" value="/data/ftp/internal_000/images"/> <define name="VIDEO_THREAD_SHOT_PATH" value="/data/ftp/internal_000/images"/>
</load> </module>
<load name="cv_blob_locator.xml"/> <module name="cv_blob_locator"/>
<load name="video_rtp_stream.xml"> <module name="video_rtp_stream">
<define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/> <define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/>
<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/> <define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
</load> </module>
<load name="nav_survey_rectangle_rotorcraft.xml"> <module name="nav" type="survey_rectangle_rotorcraft">
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/> <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
</load> </module>
<load name="nav_survey_poly_rotorcraft.xml"> <module name="nav" type="survey_poly_rotorcraft">
<define name="POLYSURVEY_DEFAULT_DISTANCE" value="10"/> <define name="POLYSURVEY_DEFAULT_DISTANCE" value="10"/>
</load> </module>
<load name="digital_cam_video.xml"> <module name="digital_cam_video">
<define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="5"/> <define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="5"/>
</load> </module>
<load name="video_exif.xml"/> <module name="video_exif"/>
</modules> </modules>
<commands> <commands>
conf/airframes/CDW/cdw_chimu_tiny2_pt_spi.xml
+12 -12
View File
@@ -157,11 +157,11 @@ YAPA + XSens + XBee
<modules> <modules>
<load name="ahrs_chimu_spi.xml" > <module name="ahrs_chimu_spi" >
<define name="CHIMU_BIG_ENDIAN" /> <define name="CHIMU_BIG_ENDIAN" />
</load> </module>
<load name="cam_point.xml" /> <module name="cam_point" />
<load name="gps_ubx_ucenter.xml"/> <module name="gps" type="ubx_ucenter"/>
</modules> </modules>
<firmware name="fixedwing"> <firmware name="fixedwing">
@@ -176,22 +176,22 @@ YAPA + XSens + XBee
</target> </target>
<!-- <target name="sim" board="pc"/> --> <!-- <target name="sim" board="pc"/> -->
<subsystem name="radio_control" type="ppm"/> <module name="radio_control" type="ppm"/>
<subsystem name="gps" type="ublox" /> <module name="gps" type="ublox" />
<!-- Communication --> <!-- Communication -->
<subsystem name="telemetry" type="xbee_api"> <module name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B9600"/> <configure name="MODEM_BAUD" value="B9600"/>
</subsystem> </module>
<!-- Actuators --> <!-- Actuators -->
<subsystem name="control"/> <module name="control"/>
<!-- Sensors --> <!-- Sensors -->
<subsystem name="navigation"/> <module name="navigation"/>
<subsystem name="spi_slave_hs"/> <module name="spi_slave_hs"/>
<subsystem name="ins" type="alt_float"/> <module name="ins" type="alt_float"/>
</firmware> </firmware>
</airframe> </airframe>
conf/airframes/CDW/cdw_chimu_tiny_fw_spi.xml
+10 -10
View File
@@ -150,9 +150,9 @@
<modules> <modules>
<load name="ins_chimu_spi.xml" > <module name="ins_chimu_spi" >
<define name="CHIMU_BIG_ENDIAN" /> <define name="CHIMU_BIG_ENDIAN" />
</load> </module>
</modules> </modules>
@@ -166,20 +166,20 @@
</target> </target>
<target name="sim" board="pc"/> <target name="sim" board="pc"/>
<subsystem name="radio_control" type="ppm"/> <module name="radio_control" type="ppm"/>
<subsystem name="gps" type="ublox" /> <module name="gps" type="ublox" />
<!-- Communication --> <!-- Communication -->
<subsystem name="telemetry" type="xbee_api"> <module name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B9600"/> <configure name="MODEM_BAUD" value="B9600"/>
</subsystem> </module>
<!-- Actuators --> <!-- Actuators -->
<subsystem name="control"/> <module name="control"/>
<!-- Sensors --> <!-- Sensors -->
<subsystem name="navigation"/> <module name="navigation"/>
<!-- <subsystem name="gps" type="ublox"/> --> <!-- <module name="gps" type="ublox"/> -->
<subsystem name="spi_slave_hs"/> <module name="spi_slave_hs"/>
</firmware> </firmware>
conf/airframes/CDW/cdw_classix.xml
+13 -13
View File
@@ -184,8 +184,8 @@
<define name="USE_AD0_3"/> <define name="USE_AD0_3"/>
<define name="ADC_6" value="AdcBank0\(3\)"/> <define name="ADC_6" value="AdcBank0\(3\)"/>
<subsystem name="control"/> <module name="control"/>
<subsystem name="navigation"/> <module name="navigation"/>
</target> </target>
<target name="fbw" board="classix"> <target name="fbw" board="classix">
@@ -198,8 +198,8 @@
</target> </target>
<target name="sim" board="pc"> <target name="sim" board="pc">
<subsystem name="control"/> <module name="control"/>
<subsystem name="navigation"/> <module name="navigation"/>
</target> </target>
<define name="DC_IMAGE_BUFFER" value="65000" /> <define name="DC_IMAGE_BUFFER" value="65000" />
@@ -209,12 +209,12 @@
<define name="LOITER_TRIM"/> <define name="LOITER_TRIM"/>
<define name="RADIO_CONTROL_AUTO1"/> <define name="RADIO_CONTROL_AUTO1"/>
<subsystem name="radio_control" type="ppm"/> <module name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="xbee_api"> <module name="telemetry" type="xbee_api">
<configure name="MODEM_PORT" value="UART0"/> <configure name="MODEM_PORT" value="UART0"/>
<configure name="MODEM_BAUD" value="B9600"/> <configure name="MODEM_BAUD" value="B9600"/>
</subsystem> </module>
<module name="ins" type="xsens"> <module name="ins" type="xsens">
<configure name="XSENS_PORT" value="uart1"/> <configure name="XSENS_PORT" value="uart1"/>
@@ -223,15 +223,15 @@
</firmware> </firmware>
<modules> <modules>
<load name="digital_cam.xml"> <module name="digital_cam">
<define name="DC_SHUTTER_GPIO" value="GPIOA,GPIO15"/> <define name="DC_SHUTTER_GPIO" value="GPIOA,GPIO15"/>
</load> </module>
<load name="adc_generic.xml"> <module name="adc_generic">
<define name="ADC_CHANNEL_GENERIC_NB_SAMPLES" value="32"/> <define name="ADC_CHANNEL_GENERIC_NB_SAMPLES" value="32"/>
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_6"/> <!-- e.g. current sensor --> <configure name="ADC_CHANNEL_GENERIC1" value="ADC_6"/> <!-- e.g. current sensor -->
</load> </module>
<load name="photogrammetry_calculator.xml" /> <module name="photogrammetry_calculator" />
<load name="nav_line.xml"/> <module name="nav" type="line"/>
</modules> </modules>
<!--+-+-+-+-+-+-+- PHOTOGRAMMETRY -+-+-+-+-+-+-+--> <!--+-+-+-+-+-+-+- PHOTOGRAMMETRY -+-+-+-+-+-+-+-->
conf/airframes/CDW/cdw_mavtec.xml
+20 -20
View File
@@ -7,27 +7,27 @@
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_mx_2.1"> <target name="ap" board="lisa_mx_2.1">
<subsystem name="radio_control" type="ppm"/> <module name="radio_control" type="ppm"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_EXTRA1"/> <define name="RADIO_KILL_SWITCH" value="RADIO_EXTRA1"/>
<define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="1"/> <define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="1"/>
<define name="USE_I2C_ACTUATORS_REBOOT_HACK"/> <define name="USE_I2C_ACTUATORS_REBOOT_HACK"/>
</target> </target>
<target name="nps" board="pc"> <target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/> <module name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/> <module name="radio_control" type="ppm"/>
</target> </target>
<subsystem name="motor_mixing"/> <module name="motor_mixing"/>
<subsystem name="actuators" type="asctec_v2"/> <module name="actuators" type="asctec_v2"/>
<subsystem name="actuators" type="pwm"/> <module name="actuators" type="pwm"/>
<subsystem name="telemetry" type="xbee_api"/> <module name="telemetry" type="xbee_api"/>
<subsystem name="imu" type="lisa_mx_v2.1"/> <module name="imu" type="lisa_mx_v2.1"/>
<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="float_mlkf"/> <module name="ahrs" type="float_mlkf"/>
<subsystem name="ins" type="hff"/> <module name="ins" type="hff"/>
</firmware> </firmware>
<section name="AUTOPILOT"> <section name="AUTOPILOT">
@@ -40,14 +40,14 @@
<!-- ************************* MODULES ************************* --> <!-- ************************* MODULES ************************* -->
<modules main_freq="512"> <modules main_freq="512">
<!-- <load name="logger_spi_link.xml"/> <!-- <module name="logger_spi_link"/>
<load name="imu_quality_assessment.xml"/> --> <module name="imu_quality_assessment"/> -->
<load name="servo_switch.xml"/> <module name="servo_switch"/>
<load name="send_imu_mag_current.xml"/> <module name="send_imu_mag_current"/>
<load name="gps_ubx_ucenter.xml" /> <module name="gps" type="ubx_ucenter" />
<load name="nav_survey_rectangle_rotorcraft.xml"/> <module name="nav" type="survey_rectangle_rotorcraft"/>
<load name="nav_survey_poly_rotorcraft.xml"/> <module name="nav" type="survey_poly_rotorcraft"/>
<load name="geo_mag.xml"/> <module name="geo_mag"/>
</modules> </modules>
<!-- ************************* ACTUATORS ************************* --> <!-- ************************* ACTUATORS ************************* -->
conf/airframes/CDW/cdw_tricopter.xml
+13 -13
View File
@@ -32,18 +32,18 @@ LiPo/LiIo-Zellen: 3
<define name="USE_ATTITUDE_REF" value="1" /> <define name="USE_ATTITUDE_REF" value="1" />
<define name="AHRS_PROPAGATE_LOW_PASS_RATES" value="1" /> <define name="AHRS_PROPAGATE_LOW_PASS_RATES" value="1" />
</target> </target>
<subsystem name="radio_control" type="ppm"/> <module name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="xbee_api"/> <module name="telemetry" type="xbee_api"/>
<subsystem name="motor_mixing"/> <module name="motor_mixing"/>
<subsystem name="actuators" type="mkk_v2"/> <module name="actuators" type="mkk_v2"/>
<subsystem name="actuators" type="pwm"> <module name="actuators" type="pwm">
<define name="USE_PWM0"/> <define name="USE_PWM0"/>
</subsystem> </module>
<subsystem name="imu" type="aspirin_v2.1"/> <module name="imu" type="aspirin_v2.1"/>
<subsystem name="gps" type="ublox"/> <module name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_euler"/> <module name="stabilization" type="int_euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/> <module name="ahrs" type="int_cmpl_euler"/>
<subsystem name="ins" type="hff"/> <module name="ins" type="hff"/>
</firmware> </firmware>
<section name="AUTOPILOT"> <section name="AUTOPILOT">
@@ -55,8 +55,8 @@ LiPo/LiIo-Zellen: 3
<!-- ************************* MODULES ************************* --> <!-- ************************* MODULES ************************* -->
<modules> <modules>
<load name="configure_actuators_mkk_v2.xml"/> <module name="configure_actuators_mkk_v2"/>
<load name="imu_quality_assessment.xml"/> <module name="imu_quality_assessment"/>
</modules> </modules>
<!-- ************************* ACTUATORS ************************* --> <!-- ************************* ACTUATORS ************************* -->
conf/airframes/CDW/cdw_twoseastwenty.xml
+23 -23
View File
@@ -20,22 +20,22 @@
<configure name="CPU_LED" value="1"/> <configure name="CPU_LED" value="1"/>
<define name="LINK_MCU_LED" value="4"/> <define name="LINK_MCU_LED" value="4"/>
<!-- FBW --> <!-- FBW -->
<subsystem name="actuators" type="dummy"/> <module name="actuators" type="dummy"/>
<subsystem name="intermcu" type="uart"> <module name="intermcu" type="uart">
<configure name="INTERMCU_PORT" value="UART2"/> <configure name="INTERMCU_PORT" value="UART2"/>
</subsystem> </module>
<subsystem name="radio_control" type="sbus_dual"> <module name="radio_control" type="sbus_dual">
<configure name="SBUS1_PORT" value="UART3"/> <configure name="SBUS1_PORT" value="UART3"/>
<configure name="SBUS2_PORT" value="UART5"/> <configure name="SBUS2_PORT" value="UART5"/>
</subsystem> </module>
<!-- AP --> <!-- AP -->
<subsystem name="control"/> <module name="control"/>
<subsystem name="navigation"/> <module name="navigation"/>
<!-- Communication --> <!-- Communication -->
<subsystem name="telemetry" type="xbee_api"> <module name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B9600"/> <configure name="MODEM_BAUD" value="B9600"/>
<configure name="MODEM_PORT" value="UART3"/> <configure name="MODEM_PORT" value="UART3"/>
</subsystem> </module>
<module name="ins" type="xsens700"> <module name="ins" type="xsens700">
<configure name="XSENS_PORT" value="uart1"/> <configure name="XSENS_PORT" value="uart1"/>
<configure name="XSENS_BAUD" value="B230400"/> <configure name="XSENS_BAUD" value="B230400"/>
@@ -48,28 +48,28 @@
<configure name="HAS_LUFTBOOT" value="0"/> <configure name="HAS_LUFTBOOT" value="0"/>
<!-- no usb --> <!-- no usb -->
<!-- RC --> <!-- RC -->
<subsystem name="radio_control" type="sbus_dual"> <module name="radio_control" type="sbus_dual">
<configure name="SBUS1_PORT" value="UART3"/> <configure name="SBUS1_PORT" value="UART3"/>
<configure name="SBUS2_PORT" value="UART5"/> <configure name="SBUS2_PORT" value="UART5"/>
</subsystem> </module>
<!-- FBW <-> AP --> <!-- FBW <-> AP -->
<subsystem name="intermcu" type="uart"> <module name="intermcu" type="uart">
<configure name="INTERMCU_PORT" value="UART1"/> <configure name="INTERMCU_PORT" value="UART1"/>
</subsystem> </module>
<!-- SERVO'S --> <!-- SERVO'S -->
<subsystem name="actuators" type="pwm"/> <module name="actuators" type="pwm"/>
<define name="USE_SERVOS_7AND8"/> <define name="USE_SERVOS_7AND8"/>
</target> </target>
<target name="sim" board="pc"> <target name="sim" board="pc">
<subsystem name="radio_control" type="ppm"/> <module name="radio_control" type="ppm"/>
<!-- AP --> <!-- AP -->
<subsystem name="control"/> <module name="control"/>
<subsystem name="navigation"/> <module name="navigation"/>
<!-- Communication --> <!-- Communication -->
<subsystem name="telemetry" type="xbee_api"> <module name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B9600"/> <configure name="MODEM_BAUD" value="B9600"/>
<configure name="MODEM_PORT" value="UART3"/> <configure name="MODEM_PORT" value="UART3"/>
</subsystem> </module>
<module name="ins" type="xsens700"> <module name="ins" type="xsens700">
<configure name="XSENS_PORT" value="uart1"/> <configure name="XSENS_PORT" value="uart1"/>
<configure name="XSENS_BAUD" value="B230400"/> <configure name="XSENS_BAUD" value="B230400"/>
@@ -87,14 +87,14 @@
<!-- ************************* MODULES ************************* --> <!-- ************************* MODULES ************************* -->
<modules> <modules>
<load name="light.xml"> <module name="light">
<define name="LIGHT_LED_STROBE" value="6"/> <define name="LIGHT_LED_STROBE" value="6"/>
<!-- <define name="LIGHT_LED_NAV" value="2"/> --> <!-- <define name="LIGHT_LED_NAV" value="2"/> -->
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/> <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
<define name="NAV_LIGHT_MODE_DEFAULT" value="4"/> <define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
</load> </module>
<load name="nav_line.xml"/> <module name="nav" type="line"/>
<!--load name="gas_engine_idle.xml"/--> <!--module name="gas_engine_idle"/-->
</modules> </modules>
<!-- ************************* ACTUATORS ************************* --> <!-- ************************* ACTUATORS ************************* -->
conf/airframes/CDW/cdw_yapa_xsens.xml
+12 -12
View File
@@ -16,15 +16,15 @@
<define name="LOITER_TRIM"/> <define name="LOITER_TRIM"/>
<define name="TUNE_AGRESSIVE_CLIMB"/> <define name="TUNE_AGRESSIVE_CLIMB"/>
<define name="AGR_CLIMB"/> <define name="AGR_CLIMB"/>
<subsystem name="radio_control" type="ppm"/> <module name="radio_control" type="ppm"/>
<!-- Communication --> <!-- Communication -->
<subsystem name="telemetry" type="xbee_api"> <module name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B9600"/> <configure name="MODEM_BAUD" value="B9600"/>
</subsystem> </module>
<!-- Actuators --> <!-- Actuators -->
<subsystem name="control"/> <module name="control"/>
<!-- Sensors --> <!-- Sensors -->
<subsystem name="navigation"/> <module name="navigation"/>
<module name="ins" type="xsens"> <module name="ins" type="xsens">
<configure name="XSENS_PORT" value="uart0"/> <configure name="XSENS_PORT" value="uart0"/>
<configure name="XSENS_BAUD" value="B230400"/> <configure name="XSENS_BAUD" value="B230400"/>
@@ -34,18 +34,18 @@
<!-- ************************* MODULES ************************* --> <!-- ************************* MODULES ************************* -->
<modules> <modules>
<load name="light.xml"> <module name="light">
<define name="LIGHT_LED_STROBE" value="1"/> <define name="LIGHT_LED_STROBE" value="1"/>
<!-- <define name="LIGHT_LED_NAV" value="2"/> --> <!-- <define name="LIGHT_LED_NAV" value="2"/> -->
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/> <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
<define name="NAV_LIGHT_MODE_DEFAULT" value="4"/> <define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
</load> </module>
<!-- <load name="digital_cam_i2c.xml"/> --> <!-- <module name="digital_cam_i2c"/> -->
<!-- <load name="ins_ppzuavimu.xml"/> --> <!-- <module name="ins_ppzuavimu"/> -->
<load name="digital_cam.xml"> <module name="digital_cam">
<define name="DC_SHUTTER_GPIO" value="GPIOB,GPIO16"/> <define name="DC_SHUTTER_GPIO" value="GPIOB,GPIO16"/>
</load> </module>
<load name="nav_line.xml"/> <module name="nav" type="line"/>
</modules> </modules>
<!-- ************************* ACTUATORS ************************* --> <!-- ************************* ACTUATORS ************************* -->
conf/airframes/CDW/test/ChimuJTinyFwSpi.xml
+10 -10
View File
@@ -150,9 +150,9 @@
<modules> <modules>
<load name="ins_chimu_spi.xml" > <module name="ins_chimu_spi" >
<!-- <define name="CHIMU_BIG_ENDIAN" /> --> <!-- <define name="CHIMU_BIG_ENDIAN" /> -->
</load> </module>
</modules> </modules>
@@ -166,21 +166,21 @@
</target> </target>
<target name="sim" board="pc"/> <target name="sim" board="pc"/>
<subsystem name="radio_control" type="ppm"/> <module name="radio_control" type="ppm"/>
<subsystem name="gps" type="ublox" /> <module name="gps" type="ublox" />
<!-- Communication --> <!-- Communication -->
<subsystem name="telemetry" type="xbee_api"> <module name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B9600"/> <configure name="MODEM_BAUD" value="B9600"/>
</subsystem> </module>
<!-- Actuators --> <!-- Actuators -->
<subsystem name="control"/> <module name="control"/>
<!-- Sensors --> <!-- Sensors -->
<subsystem name="navigation"/> <module name="navigation"/>
<!-- <subsystem name="gps" type="ublox"/> --> <!-- <module name="gps" type="ublox"/> -->
<subsystem name="spi_slave_hs"/> <module name="spi_slave_hs"/>
</firmware> </firmware>
conf/airframes/CDW/test/ChimuLisaFw.xml
+8 -8
View File
@@ -131,9 +131,9 @@
</section> </section>
<modules> <modules>
<load name="ins_chimu_uart.xml"> <module name="ins_chimu_uart">
<configure name="CHIMU_UART_NR" value="3"/> <configure name="CHIMU_UART_NR" value="3"/>
</load> </module>
</modules> </modules>
<firmware name="fixedwing"> <firmware name="fixedwing">
@@ -144,17 +144,17 @@
<define name="AGR_CLIMB" /> <define name="AGR_CLIMB" />
<define name="LOITER_TRIM" /> <define name="LOITER_TRIM" />
<subsystem name="radio_control" type="ppm"/> <module name="radio_control" type="ppm"/>
<!-- Communication --> <!-- Communication -->
<subsystem name="telemetry" type="transparent"> <module name="telemetry" type="transparent">
<configure name="MODEM_BAUD" value="B9600"/> <configure name="MODEM_BAUD" value="B9600"/>
</subsystem> </module>
<subsystem name="control"/> <module name="control"/>
<!-- Sensors --> <!-- Sensors -->
<subsystem name="gps" type="ublox_utm"/> <module name="gps" type="ublox_utm"/>
<subsystem name="navigation"/> <module name="navigation"/>
</firmware> </firmware>
conf/airframes/CDW/test/ChimuTinyFw.xml
+11 -11
View File
@@ -150,11 +150,11 @@
<modules> <modules>
<load name="ins_chimu_uart.xml"> <module name="ins_chimu_uart">
<configure name="CHIMU_UART_NR" value="0"/> <configure name="CHIMU_UART_NR" value="0"/>
</load> </module>
<load name="gps_i2c.xml" /> <module name="gps" type="i2c" />
</modules> </modules>
@@ -167,21 +167,21 @@
</target> </target>
<target name="sim" board="pc"/> <target name="sim" board="pc"/>
<subsystem name="radio_control" type="ppm"/> <module name="radio_control" type="ppm"/>
<subsystem name="gps" type="ublox" > <module name="gps" type="ublox" >
<configure name="GPS_PORT" value="gps_i2c" /> <configure name="GPS_PORT" value="gps_i2c" />
</subsystem> </module>
<!-- Communication --> <!-- Communication -->
<subsystem name="telemetry" type="xbee_api"> <module name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B9600"/> <configure name="MODEM_BAUD" value="B9600"/>
</subsystem> </module>
<!-- Actuators --> <!-- Actuators -->
<subsystem name="control"/> <module name="control"/>
<!-- Sensors --> <!-- Sensors -->
<subsystem name="navigation"/> <module name="navigation"/>
<!-- <subsystem name="gps" type="ublox"/> --> <!-- <module name="gps" type="ublox"/> -->
</firmware> </firmware>
conf/airframes/CDW/test/yapa3_aspirin2.xml
+19 -19
View File
@@ -201,21 +201,21 @@
<modules> <modules>
<!-- <!--
<load name="light.xml"> <module name="light">
<define name="LIGHT_LED_STROBE" value="3"/> <define name="LIGHT_LED_STROBE" value="3"/>
<define name="LIGHT_LED_NAV" value="2"/> <define name="LIGHT_LED_NAV" value="2"/>
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/> <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
<define name="NAV_LIGHT_MODE_DEFAULT" value="4"/> <define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
</load> </module>
--> -->
<!-- <load name="digital_cam_i2c.xml"/> --> <!-- <module name="digital_cam_i2c"/> -->
<!-- <load name="ins_ppzuavimu.xml" /> --> <!-- <module name="ins_ppzuavimu" /> -->
<!-- <!--
<load name="digital_cam.xml" > <module name="digital_cam" >
<define name="DC_SHUTTER_GPIO" value="GPIOB,GPIO18"/> <define name="DC_SHUTTER_GPIO" value="GPIOB,GPIO18"/>
</load> </module>
--> -->
</modules> </modules>
@@ -240,29 +240,29 @@
<!-- Sensors --> <!-- Sensors -->
<!-- <!--
<subsystem name="ahrs" type="int_cmpl_quat"> <module name="ahrs" type="int_cmpl_quat">
<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" /> <define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" />
</subsystem> </module>
<subsystem name="imu" type="aspirin_i2c"/> <module name="imu" type="aspirin_i2c"/>
--> -->
<subsystem name="imu" type="aspirin2_i2c"/> <module name="imu" type="aspirin2_i2c"/>
<subsystem name="ahrs" type="float_dcm"> <module name="ahrs" type="float_dcm">
<!-- <configure name="USE_MAGNETOMETER" /> --> <!-- <configure name="USE_MAGNETOMETER" /> -->
</subsystem> </module>
<subsystem name="ins" type="alt_float"/> <module name="ins" type="alt_float"/>
<subsystem name="radio_control" type="ppm"/> <module name="radio_control" type="ppm"/>
<!-- Communication --> <!-- Communication -->
<subsystem name="telemetry" type="xbee_api"> <module name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B9600"/> <configure name="MODEM_BAUD" value="B9600"/>
</subsystem> </module>
<!-- Actuators --> <!-- Actuators -->
<subsystem name="control"/> <module name="control"/>
<!-- Sensors --> <!-- Sensors -->
<subsystem name="navigation"/> <module name="navigation"/>
<subsystem name="gps" type="ublox_utm"/> <module name="gps" type="ublox_utm"/>
</firmware> </firmware>
conf/airframes/CRIDEA/cridea_quadsuave.xml
+13 -13
View File
@@ -18,35 +18,35 @@
<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/> <define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
<subsystem name="radio_control" type="ppm"> <module name="radio_control" type="ppm">
<configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/> <configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/>
</subsystem> </module>
<target name="nps" board="pc"> <target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/> <module name="fdm" type="jsbsim"/>
</target> </target>
<subsystem name="gps" type="ublox"/> <module name="gps" type="ublox"/>
<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"/>
<define name="USE_SERVOS_7AND8"/> <define name="USE_SERVOS_7AND8"/>
</subsystem> </module>
<subsystem name="telemetry" type="transparent"/> <module name="telemetry" type="transparent"/>
<subsystem name="imu" type="aspirin_v2.1"/> <module name="imu" type="aspirin_v2.1"/>
<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">
<define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="30"/> <define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="30"/>
</subsystem> </module>
<configure name="GPS_LED" value="4"/> <configure name="GPS_LED" value="4"/>
<configure name="RADIO_CONTROL_LED" value="3"/> <configure name="RADIO_CONTROL_LED" value="3"/>
<configure name="AHRS_ALIGNER_LED" value="2"/> <configure name="AHRS_ALIGNER_LED" value="2"/>
<subsystem name="ins"/> <module name="ins"/>
<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/--> <!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
</firmware> </firmware>
conf/airframes/ESDEN/esden_cocto_lm2a2.xml
+18 -18
View File
@@ -187,42 +187,42 @@ B2L -> CW
</section> </section>
<modules main_freq="512"> <modules main_freq="512">
<load name="gps_ubx_ucenter.xml"/> <module name="gps" type="ubx_ucenter"/>
<load name="led_safety_status.xml"> <module name="led_safety_status">
<define name="SAFETY_WARNING_LED" value="5"/> <define name="SAFETY_WARNING_LED" value="5"/>
</load> </module>
</modules> </modules>
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0"> <target name="ap" board="lisa_m_2.0">
<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>
</target> </target>
<target name="nps" board="pc"> <target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/> <module name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/> <module name="radio_control" type="ppm"/>
</target> </target>
<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"/>
<define name="USE_SERVOS_7AND8"/> <define name="USE_SERVOS_7AND8"/>
</subsystem> </module>
<subsystem name="telemetry" type="transparent"/> <module name="telemetry" type="transparent"/>
<subsystem name="imu" type="aspirin_v2.1"/> <module name="imu" type="aspirin_v2.1"/>
<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"/> <module name="ins"/>
<!--define name="USE_INS_NAV_INIT"/--> <!--define name="USE_INS_NAV_INIT"/-->
<!--subsystem name="stabilization" type="int_euler"/> <!--module name="stabilization" type="int_euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/--> <module name="ahrs" type="int_cmpl_euler"/-->
</firmware> </firmware>
</airframe> </airframe>
conf/airframes/ESDEN/esden_gain_scheduling_example.xml
+21 -21
View File
@@ -175,45 +175,45 @@
<!--//////////////INCLUDE THE GAIN SCHEDULING MODULE\\\\\\\\\\\\\\\\--> <!--//////////////INCLUDE THE GAIN SCHEDULING MODULE\\\\\\\\\\\\\\\\-->
<modules main_freq="512"> <modules main_freq="512">
<load name="gps_ubx_ucenter.xml"/> <module name="gps" type="ubx_ucenter"/>
<load name="led_safety_status.xml"> <module name="led_safety_status">
<define name="USE_LED_BODY" value="1"/> <define name="USE_LED_BODY" value="1"/>
<define name="SAFETY_WARNING_LED" value="BODY"/> <define name="SAFETY_WARNING_LED" value="BODY"/>
</load> </module>
<!-- FIXME <load name="gain_scheduling.xml"/>--> <!-- FIXME <module name="gain_scheduling"/>-->
</modules> </modules>
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0"> <target name="ap" board="lisa_m_2.0">
<subsystem name="radio_control" type="ppm"> <module name="radio_control" type="ppm">
<configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/> <configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/>
</subsystem> </module>
<configure name="LISA_M_BARO" value="BARO_MS5611_SPI"/> <configure name="LISA_M_BARO" value="BARO_MS5611_SPI"/>
</target> </target>
<target name="nps" board="pc"> <target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/> <module name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/> <module name="radio_control" type="ppm"/>
</target> </target>
<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"/>
<define name="USE_SERVOS_7AND8"/> <define name="USE_SERVOS_7AND8"/>
</subsystem> </module>
<subsystem name="telemetry" type="transparent"/> <module name="telemetry" type="transparent"/>
<subsystem name="imu" type="aspirin_v2.1"/> <module name="imu" type="aspirin_v2.1"/>
<!--subsystem name="imu" type="aspirin_v1.0"/--> <!--module name="imu" type="aspirin_v1.0"/-->
<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">
<configure name="USE_MAGNETOMETER" value="0"/> <configure name="USE_MAGNETOMETER" value="0"/>
<define name="AHRS_USE_GPS_HEADING" value="1"/> <define name="AHRS_USE_GPS_HEADING" value="1"/>
</subsystem> </module>
<subsystem name="ins"/> <module name="ins"/>
<!--define name="USE_INS_NAV_INIT"/--> <!--define name="USE_INS_NAV_INIT"/-->
<!--subsystem name="stabilization" type="int_euler"/> <!--module name="stabilization" type="int_euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/--> <module name="ahrs" type="int_cmpl_euler"/-->
</firmware> </firmware>
</airframe> </airframe>
conf/airframes/ESDEN/esden_hexy_ll11a2pwm.xml
+18 -18
View File
@@ -184,41 +184,41 @@
</section> </section>
<modules main_freq="512"> <modules main_freq="512">
<load name="gps_ubx_ucenter.xml"/> <module name="gps" type="ubx_ucenter"/>
<load name="led_safety_status.xml"> <module name="led_safety_status">
<define name="SAFETY_WARNING_LED" value="5"/> <define name="SAFETY_WARNING_LED" value="5"/>
</load> </module>
</modules> </modules>
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.1"> <target name="ap" board="lisa_l_1.1">
<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>
</target> </target>
<target name="nps" board="pc"> <target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/> <module name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/> <module name="radio_control" type="ppm"/>
</target> </target>
<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"/>
<define name="USE_SERVOS_7AND8"/> <define name="USE_SERVOS_7AND8"/>
</subsystem> </module>
<subsystem name="telemetry" type="transparent"/> <module name="telemetry" type="transparent"/>
<subsystem name="imu" type="aspirin_v2.1"/> <module name="imu" type="aspirin_v2.1"/>
<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"/> <module name="ins"/>
<!--define name="USE_INS_NAV_INIT"/--> <!--define name="USE_INS_NAV_INIT"/-->
<!--subsystem name="stabilization" type="int_euler"/> <!--module name="stabilization" type="int_euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/--> <module name="ahrs" type="int_cmpl_euler"/-->
</firmware> </firmware>
</airframe> </airframe>
conf/airframes/ESDEN/esden_hexy_lm2a2pwm.xml
+16 -16
View File
@@ -145,39 +145,39 @@
</section> </section>
<modules main_freq="512"> <modules main_freq="512">
<load name="gps_ubx_ucenter.xml"/> <module name="gps" type="ubx_ucenter"/>
</modules> </modules>
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0"> <target name="ap" board="lisa_m_2.0">
<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>
</target> </target>
<target name="nps" board="pc"> <target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/> <module name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/> <module name="radio_control" type="ppm"/>
</target> </target>
<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"/>
<define name="USE_SERVOS_7AND8"/> <define name="USE_SERVOS_7AND8"/>
</subsystem> </module>
<subsystem name="telemetry" type="transparent"/> <module name="telemetry" type="transparent"/>
<subsystem name="imu" type="aspirin_v2.1"/> <module name="imu" type="aspirin_v2.1"/>
<define name="LISA_M_LONGITUDINAL_X"/> <define name="LISA_M_LONGITUDINAL_X"/>
<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"/> <module name="ins"/>
<!--define name="USE_INS_NAV_INIT"/--> <!--define name="USE_INS_NAV_INIT"/-->
<!--subsystem name="stabilization" type="int_euler"/> <!--module name="stabilization" type="int_euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/--> <module name="ahrs" type="int_cmpl_euler"/-->
</firmware> </firmware>
</airframe> </airframe>
conf/airframes/ESDEN/esden_lisa2_hex.xml
+19 -19
View File
@@ -159,43 +159,43 @@
</section> </section>
<modules main_freq="512"> <modules main_freq="512">
<load name="gps_ubx_ucenter.xml"/> <module name="gps" type="ubx_ucenter"/>
<load name="led_safety_status.xml"> <module name="led_safety_status">
<define name="USE_LED_BODY" value="1"/> <define name="USE_LED_BODY" value="1"/>
<define name="SAFETY_WARNING_LED" value="5"/> <define name="SAFETY_WARNING_LED" value="5"/>
</load> </module>
</modules> </modules>
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0"> <target name="ap" board="lisa_m_2.0">
<subsystem name="radio_control" type="ppm"> <module name="radio_control" type="ppm">
<configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/> <configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/>
</subsystem> </module>
</target> </target>
<target name="nps" board="pc"> <target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/> <module name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/> <module name="radio_control" type="ppm"/>
</target> </target>
<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"/>
<define name="USE_SERVOS_7AND8"/> <define name="USE_SERVOS_7AND8"/>
</subsystem> </module>
<subsystem name="telemetry" type="transparent"/> <module name="telemetry" type="transparent"/>
<subsystem name="imu" type="aspirin_v2.1"/> <module name="imu" type="aspirin_v2.1"/>
<define name="LISA_M_LONGITUDINAL_X"/> <define name="LISA_M_LONGITUDINAL_X"/>
<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">
<configure name="USE_MAGNETOMETER" value="0"/> <configure name="USE_MAGNETOMETER" value="0"/>
</subsystem> </module>
<subsystem name="ins"/> <module name="ins"/>
<!--define name="USE_INS_NAV_INIT"/--> <!--define name="USE_INS_NAV_INIT"/-->
<!--subsystem name="stabilization" type="int_euler"/> <!--module name="stabilization" type="int_euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/--> <module name="ahrs" type="int_cmpl_euler"/-->
</firmware> </firmware>
</airframe> </airframe>
conf/airframes/ESDEN/esden_qs_asp22.xml
+21 -21
View File
@@ -184,45 +184,45 @@
</section> </section>
<modules main_freq="512"> <modules main_freq="512">
<load name="gps_ubx_ucenter.xml"/> <module name="gps" type="ubx_ucenter"/>
<load name="led_safety_status.xml"> <module name="led_safety_status">
<define name="USE_LED_BODY" value="1"/> <define name="USE_LED_BODY" value="1"/>
<define name="SAFETY_WARNING_LED" value="BODY"/> <define name="SAFETY_WARNING_LED" value="BODY"/>
</load> </module>
<!--load name="gain_scheduling.xml"/--> <!--module name="gain_scheduling"/-->
</modules> </modules>
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0"> <target name="ap" board="lisa_m_2.0">
<subsystem name="radio_control" type="ppm"> <module name="radio_control" type="ppm">
<configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/> <configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/>
</subsystem> </module>
<configure name="LISA_M_BARO" value="BARO_MS5611_SPI"/> <configure name="LISA_M_BARO" value="BARO_MS5611_SPI"/>
</target> </target>
<target name="nps" board="pc"> <target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/> <module name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/> <module name="radio_control" type="ppm"/>
</target> </target>
<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"/>
<define name="USE_SERVOS_7AND8"/> <define name="USE_SERVOS_7AND8"/>
</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="imu" type="aspirin_v1.5"/> --> <!-- <module name="imu" type="aspirin_v1.5"/> -->
<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">
<configure name="USE_MAGNETOMETER" value="0"/> <configure name="USE_MAGNETOMETER" value="0"/>
<define name="AHRS_USE_GPS_HEADING" value="0"/> <define name="AHRS_USE_GPS_HEADING" value="0"/>
</subsystem> </module>
<subsystem name="ins"/> <module name="ins"/>
<!--define name="USE_INS_NAV_INIT"/--> <!--define name="USE_INS_NAV_INIT"/-->
<!--subsystem name="stabilization" type="int_euler"/> <!--module name="stabilization" type="int_euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/--> <module name="ahrs" type="int_cmpl_euler"/-->
</firmware> </firmware>
</airframe> </airframe>
conf/airframes/ESDEN/esden_quady_ll11a2pwm.xml
+16 -16
View File
@@ -180,38 +180,38 @@
</section> </section>
<modules main_freq="512"> <modules main_freq="512">
<load name="gps_ubx_ucenter.xml"/> <module name="gps" type="ubx_ucenter"/>
</modules> </modules>
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.1"> <target name="ap" board="lisa_l_1.1">
<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>
</target> </target>
<target name="nps" board="pc"> <target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/> <module name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/> <module name="radio_control" type="ppm"/>
</target> </target>
<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"/>
<define name="USE_SERVOS_7AND8"/> <define name="USE_SERVOS_7AND8"/>
</subsystem> </module>
<subsystem name="telemetry" type="transparent"/> <module name="telemetry" type="transparent"/>
<subsystem name="imu" type="aspirin_v2.1"/> <module name="imu" type="aspirin_v2.1"/>
<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"/> <module name="ins"/>
<!--define name="USE_INS_NAV_INIT"/--> <!--define name="USE_INS_NAV_INIT"/-->
<!--subsystem name="stabilization" type="int_euler"/> <!--module name="stabilization" type="int_euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/--> <module name="ahrs" type="int_cmpl_euler"/-->
</firmware> </firmware>
</airframe> </airframe>
conf/airframes/ESDEN/esden_quady_lm1a1pwm.xml
+16 -16
View File
@@ -141,38 +141,38 @@
</section> </section>
<modules main_freq="512"> <modules main_freq="512">
<load name="gps_ubx_ucenter.xml"/> <module name="gps" type="ubx_ucenter"/>
</modules> </modules>
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_m_1.0"> <target name="ap" board="lisa_m_1.0">
<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>
</target> </target>
<target name="nps" board="pc"> <target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/> <module name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/> <module name="radio_control" type="ppm"/>
</target> </target>
<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"/>
<define name="USE_SERVOS_7AND8"/> <define name="USE_SERVOS_7AND8"/>
</subsystem> </module>
<subsystem name="telemetry" type="transparent"/> <module name="telemetry" type="transparent"/>
<subsystem name="imu" type="aspirin_v1.0"/> <module name="imu" type="aspirin_v1.0"/>
<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"/> <module name="ins"/>
<!--define name="USE_INS_NAV_INIT"/--> <!--define name="USE_INS_NAV_INIT"/-->
<!--subsystem name="stabilization" type="int_euler"/> <!--module name="stabilization" type="int_euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/--> <module name="ahrs" type="int_cmpl_euler"/-->
</firmware> </firmware>
</airframe> </airframe>
conf/airframes/ESDEN/esden_quady_lm2a2pwm.xml
+18 -18
View File
@@ -144,43 +144,43 @@
</section> </section>
<modules main_freq="512"> <modules main_freq="512">
<load name="gps_ubx_ucenter.xml"/> <module name="gps" type="ubx_ucenter"/>
<load name="led_safety_status.xml"> <module name="led_safety_status">
<define name="SAFETY_WARNING_LED" value="5"/> <define name="SAFETY_WARNING_LED" value="5"/>
</load> </module>
</modules> </modules>
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0"> <target name="ap" board="lisa_m_2.0">
<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>
<configure name="LISA_M_BARO" value="BARO_MS5611_SPI"/> <configure name="LISA_M_BARO" value="BARO_MS5611_SPI"/>
</target> </target>
<target name="nps" board="pc"> <target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/> <module name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/> <module name="radio_control" type="ppm"/>
</target> </target>
<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"/>
<define name="USE_SERVOS_7AND8"/> <define name="USE_SERVOS_7AND8"/>
</subsystem> </module>
<subsystem name="telemetry" type="transparent"/> <module name="telemetry" type="transparent"/>
<subsystem name="imu" type="aspirin_v2.1"/> <module name="imu" type="aspirin_v2.1"/>
<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"/> <module name="ins"/>
<!--define name="USE_INS_NAV_INIT"/--> <!--define name="USE_INS_NAV_INIT"/-->
<!--subsystem name="stabilization" type="int_euler"/> <!--module name="stabilization" type="int_euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/--> <module name="ahrs" type="int_cmpl_euler"/-->
</firmware> </firmware>
</airframe> </airframe>
conf/airframes/ESDEN/esden_quady_lm2a2pwmppm.xml
+18 -18
View File
@@ -141,40 +141,40 @@
</section> </section>
<modules main_freq="512"> <modules main_freq="512">
<load name="gps_ubx_ucenter.xml"/> <module name="gps" type="ubx_ucenter"/>
<load name="led_safety_status.xml"> <module name="led_safety_status">
<define name="SAFETY_WARNING_LED" value="5"/> <define name="SAFETY_WARNING_LED" value="5"/>
</load> </module>
</modules> </modules>
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0"> <target name="ap" board="lisa_m_2.0">
<subsystem name="radio_control" type="ppm"> <module name="radio_control" type="ppm">
<configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/> <configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/>
</subsystem> </module>
</target> </target>
<target name="nps" board="pc"> <target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/> <module name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/> <module name="radio_control" type="ppm"/>
</target> </target>
<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"/>
<define name="USE_SERVOS_7AND8"/> <define name="USE_SERVOS_7AND8"/>
</subsystem> </module>
<subsystem name="telemetry" type="transparent"/> <module name="telemetry" type="transparent"/>
<subsystem name="imu" type="aspirin_v2.1"/> <module name="imu" type="aspirin_v2.1"/>
<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"/> <module name="ins"/>
<!--define name="USE_INS_NAV_INIT"/--> <!--define name="USE_INS_NAV_INIT"/-->
<!--subsystem name="stabilization" type="int_euler"/> <!--module name="stabilization" type="int_euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/--> <module name="ahrs" type="int_cmpl_euler"/-->
</firmware> </firmware>
</airframe> </airframe>
conf/airframes/ESDEN/esden_quady_ls10pwm.xml
+16 -16
View File
@@ -144,40 +144,40 @@
</section> </section>
<modules main_freq="512"> <modules main_freq="512">
<load name="gps_ubx_ucenter.xml"/> <module name="gps" type="ubx_ucenter"/>
</modules> </modules>
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_s_1.0"> <target name="ap" board="lisa_s_1.0">
<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="0"/> <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="0"/>
</subsystem> </module>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/> <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
</target> </target>
<target name="nps" board="pc"> <target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/> <module name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/> <module name="radio_control" type="ppm"/>
</target> </target>
<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"/>
<define name="USE_SERVOS_1AND2"/> <define name="USE_SERVOS_1AND2"/>
</subsystem> </module>
<subsystem name="telemetry" type="transparent"/> <module name="telemetry" type="transparent"/>
<subsystem name="imu" type="lisa_s_v1.0"/> <module name="imu" type="lisa_s_v1.0"/>
<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"/> <module name="ins"/>
<!--define name="USE_INS_NAV_INIT"/--> <!--define name="USE_INS_NAV_INIT"/-->
<!--subsystem name="stabilization" type="euler"/> <!--module name="stabilization" type="euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/--> <module name="ahrs" type="int_cmpl_euler"/-->
</firmware> </firmware>
</airframe> </airframe>
conf/airframes/FLIXR/flixr_fraser_lisa_m_rotorcraft.xml
+1 -1
View File
@@ -31,7 +31,7 @@
<define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="30"/> <define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="30"/>
</module> </module>
<module name="ins_extended"/> <module name="ins_extended"/>
<module name="gps_ubx_ucenter"/> <module name="gps" type="ubx_ucenter"/>
<module name="sys_mon"/> <module name="sys_mon"/>
<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/--> <!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
conf/airframes/FLIXR/flixr_ladybird_lisa_s.xml
+1 -1
View File
@@ -80,7 +80,7 @@
<module name="stabilization" type="int_quat"/> <module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat"/> <module name="ahrs" type="int_cmpl_quat"/>
<module name="ins"/> <module name="ins"/>
<module name="gps_ubx_ucenter"/> <module name="gps" type="ubx_ucenter"/>
<module name="send_imu_mag_current"/> <module name="send_imu_mag_current"/>
<module name="geo_mag"/> <module name="geo_mag"/>
</firmware> </firmware>
conf/airframes/FLIXR/flixr_lisa_mx.xml
+2 -2
View File
@@ -45,11 +45,11 @@
<module name="ins" type="hff"/> <module name="ins" type="hff"/>
<module name="adc_generic.xml"> <module name="adc_generic">
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/> <configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/> <configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
</module> </module>
<module name="gps_ubx_ucenter"/> <module name="gps" type="ubx_ucenter"/>
<module name="geo_mag"/> <module name="geo_mag"/>
<module name="sys_mon"/> <module name="sys_mon"/>
<module name="air_data"> <module name="air_data">
conf/airframes/FLIXR/flixr_lisamx_dual.xml
+1 -1
View File
@@ -66,7 +66,7 @@
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/> <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
<define name="NAV_LIGHT_MODE_DEFAULT" value="4"/> <define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
</module> </module>
<module name="nav_line"/> <module name="nav" type="line"/>
<module name="air_data"/> <module name="air_data"/>
<define name="AGR_CLIMB"/> <define name="AGR_CLIMB"/>
conf/airframes/FLIXR/flixr_zmr250_elle0.xml
+1 -1
View File
@@ -39,7 +39,7 @@
<!--define name="AHRS_MAG_UPDATE_ALL_AXES" value="1"/--> <!--define name="AHRS_MAG_UPDATE_ALL_AXES" value="1"/-->
</module> </module>
<module name="ins" type="hff"/> <module name="ins" type="hff"/>
<module name="gps_ubx_ucenter"/> <module name="gps" type="ubx_ucenter"/>
<module name="geo_mag"/> <module name="geo_mag"/>
<module name="air_data"/> <module name="air_data"/>
conf/airframes/HOOPERFLY/hooperfly_racerpex_hexa_lisa_mx_20.xml
+6 -6
View File
@@ -38,15 +38,15 @@
<module name="ahrs" type="int_cmpl_quat"/> <module name="ahrs" type="int_cmpl_quat"/>
<module name="ins" type="hff"/> <module name="ins" type="hff"/>
<module name="send_imu_mag_current.xml"/> <module name="send_imu_mag_current"/>
<module name="adc_generic.xml"> <module name="adc_generic">
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/> <configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/> <configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
</module> </module>
<module name="gps_ubx_ucenter.xml"/> <module name="gps" type="ubx_ucenter"/>
<module name="geo_mag.xml"/> <module name="geo_mag"/>
<module name="air_data.xml"/> <module name="air_data"/>
<module name="nav_survey_rectangle_rotorcraft.xml"> <module name="nav" type="survey_rectangle_rotorcraft">
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/> <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
</module> </module>
conf/airframes/HOOPERFLY/hooperfly_racerpex_octo_lisa_mx_20.xml
+6 -6
View File
@@ -37,15 +37,15 @@
<module name="ahrs" type="int_cmpl_quat"/> <module name="ahrs" type="int_cmpl_quat"/>
<module name="ins" type="hff"/> <module name="ins" type="hff"/>
<module name="send_imu_mag_current.xml"/> <module name="send_imu_mag_current"/>
<module name="adc_generic.xml"> <module name="adc_generic">
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/> <configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/> <configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
</module> </module>
<module name="gps_ubx_ucenter.xml"/> <module name="gps" type="ubx_ucenter"/>
<module name="geo_mag.xml"/> <module name="geo_mag"/>
<module name="air_data.xml"/> <module name="air_data"/>
<module name="nav_survey_rectangle_rotorcraft.xml"> <module name="nav" type="survey_rectangle_rotorcraft">
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/> <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
</module> </module>
conf/airframes/HOOPERFLY/hooperfly_racerpex_quad_lisa_mx_20.xml
+6 -6
View File
@@ -38,15 +38,15 @@
<module name="ahrs" type="int_cmpl_quat"/> <module name="ahrs" type="int_cmpl_quat"/>
<module name="ins" type="hff"/> <module name="ins" type="hff"/>
<module name="send_imu_mag_current.xml"/> <module name="send_imu_mag_current"/>
<module name="adc_generic.xml"> <module name="adc_generic">
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/> <configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/> <configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
</module> </module>
<module name="gps_ubx_ucenter.xml"/> <module name="gps" type="ubx_ucenter"/>
<module name="geo_mag.xml"/> <module name="geo_mag"/>
<module name="air_data.xml"/> <module name="air_data"/>
<module name="nav_survey_rectangle_rotorcraft.xml"> <module name="nav" type="survey_rectangle_rotorcraft">
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/> <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
</module> </module>
conf/airframes/HOOPERFLY/hooperfly_teensyfly_hexa_lisa_mx_20.xml
+6 -6
View File
@@ -38,15 +38,15 @@
<module name="ahrs" type="int_cmpl_quat"/> <module name="ahrs" type="int_cmpl_quat"/>
<module name="ins" type="hff"/> <module name="ins" type="hff"/>
<module name="send_imu_mag_current.xml"/> <module name="send_imu_mag_current"/>
<module name="adc_generic.xml"> <module name="adc_generic">
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/> <configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/> <configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
</module> </module>
<module name="gps_ubx_ucenter.xml"/> <module name="gps" type="ubx_ucenter"/>
<module name="geo_mag.xml"/> <module name="geo_mag"/>
<module name="air_data.xml"/> <module name="air_data"/>
<module name="nav_survey_rectangle_rotorcraft.xml"> <module name="nav" type="survey_rectangle_rotorcraft">
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/> <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
</module> </module>
conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0.xml
+5 -5
View File
@@ -36,11 +36,11 @@
<module name="ahrs" type="int_cmpl_quat"/> <module name="ahrs" type="int_cmpl_quat"/>
<module name="ins" type="hff"/> <module name="ins" type="hff"/>
<module name="send_imu_mag_current.xml"/> <module name="send_imu_mag_current"/>
<module name="gps_ubx_ucenter.xml"/> <module name="gps" type="ubx_ucenter"/>
<module name="geo_mag.xml"/> <module name="geo_mag"/>
<module name="air_data.xml"/> <module name="air_data"/>
<module name="nav_survey_rectangle_rotorcraft.xml"> <module name="nav" type="survey_rectangle_rotorcraft">
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/> <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
</module> </module>

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