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https://github.com/paparazzi/paparazzi.git
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Merge pull request #1604 from paparazzi/switch_to_modules
replace subsystem by module in all airframes
This commit is contained in:
Gautier Hattenberger
@@ -12,24 +12,24 @@
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<firmware name="rotorcraft">
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<target name="ap" board="lisa_mx_2.1">
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<subsystem name="radio_control" type="sbus">
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<module name="radio_control" type="sbus">
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<configure name="SBUS_PORT" value="UART5"/>
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</subsystem>
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</module>
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</target>
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<target name="nps" board="pc">
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<subsystem name="fdm" type="jsbsim"/>
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<subsystem name="radio_control" type="spektrum"/>
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<module name="fdm" type="jsbsim"/>
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<module name="radio_control" type="spektrum"/>
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</target>
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<subsystem name="motor_mixing"/>
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<subsystem name="actuators" type="pwm">
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<module name="motor_mixing"/>
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<module name="actuators" type="pwm">
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<define name="SERVO_HZ" value="400"/>
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</subsystem>
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</module>
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<subsystem name="telemetry" type="transparent"/>
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<subsystem name="stabilization" type="float_euler"/>
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<subsystem name="ins" type="vectornav"/>
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<module name="telemetry" type="transparent"/>
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<module name="stabilization" type="float_euler"/>
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<module name="ins" type="vectornav"/>
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</firmware>
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@@ -10,35 +10,35 @@ RP3 Lisa MX
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<define name="CONTROL_FREQUENCY" value="100"/>
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<configure name="PERIODIC_FREQUENCY" value="100"/>
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<target name="ap" board="lisa_mx_2.0">
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<subsystem name="radio_control" type="sbus">
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<module name="radio_control" type="sbus">
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<configure name="SBUS_PORT" value="UART5"/>
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</subsystem>
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</module>
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</target>
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<target name="nps" board="pc">
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<subsystem name="fdm" type="jsbsim"/>
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<subsystem name="radio_control" type="ppm"/>
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<module name="fdm" type="jsbsim"/>
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<module name="radio_control" type="ppm"/>
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</target>
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<subsystem name="control"/>
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<subsystem name="navigation"/>
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<module name="control"/>
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<module name="navigation"/>
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<subsystem name="telemetry" type="transparent">
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<module name="telemetry" type="transparent">
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<configure name="MODEM_PORT" value="UART3"/>
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<configure name="MODEM_BAUD" value="B57600"/>
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</subsystem>
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</module>
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<subsystem name="ins" type="vectornav">
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<module name="ins" type="vectornav">
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<configure name="VN_PORT" value="UART2"/>
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<configure name="VN_BAUD" value="B921600"/>
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</subsystem>
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</module>
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<define name="AGR_CLIMB" />
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</firmware>
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<modules>
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<load name="nav_line.xml"/>
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<load name="sys_mon.xml"/>
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<module name="nav" type="line"/>
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<module name="sys_mon"/>
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</modules>
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<!-- commands section -->
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@@ -191,44 +191,44 @@
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</section>
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<modules main_freq="512">
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<load name="gps_ubx_ucenter.xml"/>
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<load name="send_imu_mag_current.xml"/>
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<module name="gps" type="ubx_ucenter"/>
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<module name="send_imu_mag_current"/>
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</modules>
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<firmware name="rotorcraft">
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<target name="ap" board="lisa_s_1.0">
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<subsystem name="radio_control" type="superbitrf_rc">
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<module name="radio_control" type="superbitrf_rc">
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<define name="RADIO_MODE" value="RADIO_GEAR"/>
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<!--<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>-->
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<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
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</subsystem>
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</module>
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<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
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</target>
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<subsystem name="motor_mixing"/>
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<module name="motor_mixing"/>
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<subsystem name="actuators" type="pwm">
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<module name="actuators" type="pwm">
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<define name="SERVO_HZ" value="50"/>
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<define name="USE_SERVOS_1AND2"/>
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</subsystem>
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</module>
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<subsystem name="actuators" type="dualpwm">
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<module name="actuators" type="dualpwm">
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<define name="DUAL_PWM_ON"/>
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</subsystem>
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<!--<subsystem name="telemetry" type="superbitrf"/>-->
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</module>
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<!--<module name="telemetry" type="superbitrf"/>-->
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<!-- Comment the previous line and uncomment the following one if you need
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to use the debug serial interface for telemetry. -->
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<subsystem name="telemetry" type="superbitrf"/>
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<subsystem name="imu" type="lisa_s_v1.0">
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<module name="telemetry" type="superbitrf"/>
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<module name="imu" type="lisa_s_v1.0">
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<define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) -->
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</subsystem>
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<subsystem name="gps" type="ublox"/>
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<subsystem name="stabilization" type="int_quat"/>
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<subsystem name="ahrs" type="int_cmpl_quat">
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</module>
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<module name="gps" type="ublox"/>
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<module name="stabilization" type="int_quat"/>
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<module name="ahrs" type="int_cmpl_quat">
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<configure name="USE_MAGNETOMETER" value="1"/>
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<define name="AHRS_USE_GPS_HEADING" value="0"/>
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</subsystem>
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<subsystem name="ins"/>
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</module>
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<module name="ins"/>
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</firmware>
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</airframe>
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@@ -175,28 +175,28 @@
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</section>
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<modules main_freq="512">
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<load name="gps_ubx_ucenter.xml"/>
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<load name="send_imu_mag_current.xml"/>
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<module name="gps" type="ubx_ucenter"/>
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<module name="send_imu_mag_current"/>
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</modules>
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<firmware name="rotorcraft">
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<target name="ap" board="lisa_s_1.0">
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<subsystem name="radio_control" type="superbitrf_rc">
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<module name="radio_control" type="superbitrf_rc">
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<define name="RADIO_MODE" value="RADIO_GEAR"/>
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<!--<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>-->
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<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
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</subsystem>
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</module>
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<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
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</target>
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<target name="nps" board="pc">
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<subsystem name="fdm" type="jsbsim"/>
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<subsystem name="radio_control" type="ppm"/>
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<module name="fdm" type="jsbsim"/>
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<module name="radio_control" type="ppm"/>
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</target>
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<subsystem name="motor_mixing"/>
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<subsystem name="actuators" type="pwm">
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<module name="motor_mixing"/>
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<module name="actuators" type="pwm">
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<!-- This airframe is using the servo PWM outputs directly to drive mosfets, which in turn directly drive brushed motors.
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With the following settings we will be driving the motors with a 36KHz signal that should be well above anyone's hearing range.
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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.
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@@ -206,21 +206,21 @@
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<!-- Setting the PWM interval to 36KHz -->
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<define name="SERVO_HZ" value="36000"/>
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<define name="USE_SERVOS_1AND2"/>
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</subsystem>
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</module>
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<!--<subsystem name="telemetry" type="superbitrf"/>-->
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<!--<module name="telemetry" type="superbitrf"/>-->
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<!-- Comment the previous line and uncomment the following one if you need
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to use the debug serial interface for telemetry. -->
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<subsystem name="telemetry" type="superbitrf"/>
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<subsystem name="imu" type="lisa_s_v1.0">
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<module name="telemetry" type="superbitrf"/>
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<module name="imu" type="lisa_s_v1.0">
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<define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) -->
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</subsystem>
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<subsystem name="gps" type="ublox"/>
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<subsystem name="stabilization" type="int_quat"/>
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<subsystem name="ahrs" type="int_cmpl_quat">
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</module>
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<module name="gps" type="ublox"/>
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<module name="stabilization" type="int_quat"/>
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<module name="ahrs" type="int_cmpl_quat">
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<configure name="USE_MAGNETOMETER" value="1"/>
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<define name="AHRS_USE_GPS_HEADING" value="0"/>
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</subsystem>
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<subsystem name="ins"/>
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</module>
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<module name="ins"/>
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</firmware>
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</airframe>
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@@ -13,30 +13,30 @@
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<firmware name="rotorcraft">
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<target name="ap" board="lisa_m_2.0"/>
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<target name="nps" board="pc">
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<subsystem name="fdm" type="jsbsim"/>
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<module name="fdm" type="jsbsim"/>
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</target>
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<subsystem name="radio_control" type="spektrum">
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<module name="radio_control" type="spektrum">
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<define name="RADIO_KILL_SWITCH" value="RADIO_AUX1"/>
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<define name="RADIO_MODE" value="RADIO_GEAR"/>
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</subsystem>
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</module>
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<subsystem name="motor_mixing"/>
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<subsystem name="actuators" type="asctec_v2"/>
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<subsystem name="actuators" type="pwm"/>
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<subsystem name="telemetry" type="xbee_api"/>
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<subsystem name="imu" type="aspirin_v2.1"/>
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<subsystem name="gps" type="ublox"/>
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<subsystem name="stabilization" type="int_quat"/>
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<subsystem name="ahrs" type="int_cmpl_quat"/>
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<subsystem name="ins" type="extended"/>
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<module name="motor_mixing"/>
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<module name="actuators" type="asctec_v2"/>
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<module name="actuators" type="pwm"/>
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<module name="telemetry" type="xbee_api"/>
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<module name="imu" type="aspirin_v2.1"/>
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<module name="gps" type="ublox"/>
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<module name="stabilization" type="int_quat"/>
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<module name="ahrs" type="int_cmpl_quat"/>
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<module name="ins" type="extended"/>
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</firmware>
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<modules>
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<load name="geo_mag.xml"/>
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<load name="air_data.xml"/>
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<load name="servo_switch.xml"/>
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<load name="gps_ubx_ucenter.xml"/>
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<module name="geo_mag"/>
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<module name="air_data"/>
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<module name="servo_switch"/>
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<module name="gps" type="ubx_ucenter"/>
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</modules>
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<servos driver="Asctec_v2">
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@@ -6,48 +6,48 @@
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<target name="ap" board="bebop"/>
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<target name="nps" board="pc">
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<subsystem name="fdm" type="jsbsim"/>
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<subsystem name="udp"/>
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<module name="fdm" type="jsbsim"/>
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<module name="udp"/>
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</target>
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<!--define name="USE_SONAR" value="TRUE"/-->
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<!-- Subsystem section -->
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<subsystem name="telemetry" type="transparent_udp"/>
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<subsystem name="radio_control" type="datalink"/>
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<subsystem name="motor_mixing"/>
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<subsystem name="actuators" type="bebop"/>
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<subsystem name="imu" type="bebop"/>
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<subsystem name="gps" type="furuno"/>
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<subsystem name="stabilization" type="int_quat"/>
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<subsystem name="ahrs" type="float_mlkf"/>
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<subsystem name="ins" type="extended"/>
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<module name="telemetry" type="transparent_udp"/>
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<module name="radio_control" type="datalink"/>
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<module name="motor_mixing"/>
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<module name="actuators" type="bebop"/>
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<module name="imu" type="bebop"/>
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<module name="gps" type="furuno"/>
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<module name="stabilization" type="int_quat"/>
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<module name="ahrs" type="float_mlkf"/>
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<module name="ins" type="extended"/>
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</firmware>
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<modules main_freq="512">
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<load name="geo_mag.xml"/>
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<load name="air_data.xml"/>
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<load name="send_imu_mag_current.xml"/>
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<!--load name="logger_file.xml">
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<module name="geo_mag"/>
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<module name="air_data"/>
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<module name="send_imu_mag_current"/>
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<!--module name="logger_file">
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<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
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</load-->
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<load name="video_thread.xml">
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</module-->
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<module name="video_thread">
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<define name="VIDEO_THREAD_CAMERA" value="bottom_camera"/>
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<define name="VIDEO_THREAD_FPS" value="4"/>
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<define name="VIDEO_THREAD_SHOT_PATH" value="/data/ftp/internal_000/images"/>
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</load>
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<load name="video_rtp_stream.xml">
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</module>
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<module name="video_rtp_stream">
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<define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/>
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<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
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</load>
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<load name="nav_survey_rectangle_rotorcraft.xml">
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</module>
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<module name="nav" type="survey_rectangle_rotorcraft">
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<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
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</load>
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<load name="digital_cam_video.xml">
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</module>
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<module name="digital_cam_video">
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<define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="10"/>
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</load>
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<load name="video_exif.xml"/>
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<load name="cv_colorfilter.xml"/>
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</module>
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<module name="video_exif"/>
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<module name="cv_colorfilter"/>
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</modules>
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<commands>
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@@ -6,57 +6,57 @@
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<target name="ap" board="bebop"/>
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<target name="nps" board="pc">
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<subsystem name="fdm" type="jsbsim"/>
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<subsystem name="udp"/>
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<module name="fdm" type="jsbsim"/>
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<module name="udp"/>
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</target>
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<!--define name="USE_SONAR" value="TRUE"/-->
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<!-- Subsystem section -->
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<subsystem name="telemetry" type="transparent_udp"/>
|
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<subsystem name="radio_control" type="datalink"/>
|
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<subsystem name="motor_mixing"/>
|
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<subsystem name="actuators" type="bebop"/>
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<subsystem name="imu" type="bebop"/>
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<subsystem name="gps" type="furuno"/>
|
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<subsystem name="stabilization" type="indi"/>
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<subsystem name="stabilization" type="rate_indi"/>
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<subsystem name="ahrs" type="float_mlkf"/>
|
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<subsystem name="ahrs" type="int_cmpl_quat">
|
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<module name="telemetry" type="transparent_udp"/>
|
||||
<module name="radio_control" type="datalink"/>
|
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<module name="motor_mixing"/>
|
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<module name="actuators" type="bebop"/>
|
||||
<module name="imu" type="bebop"/>
|
||||
<module name="gps" type="furuno"/>
|
||||
<module name="stabilization" type="indi"/>
|
||||
<module name="stabilization" type="rate_indi"/>
|
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<module name="ahrs" type="float_mlkf"/>
|
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<module name="ahrs" type="int_cmpl_quat">
|
||||
<configure name="USE_MAGNETOMETER" value="TRUE"/>
|
||||
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
|
||||
<configure name="SECONDARY_AHRS" value="int_cmpl_quat"/>
|
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</subsystem>
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||||
<subsystem name="ins" type="extended"/>
|
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</module>
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||||
<module name="ins" type="extended"/>
|
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</firmware>
|
||||
|
||||
<modules main_freq="512">
|
||||
<load name="geo_mag.xml"/>
|
||||
<load name="air_data.xml"/>
|
||||
<load name="send_imu_mag_current.xml"/>
|
||||
<!--load name="logger_file.xml">
|
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<module name="geo_mag"/>
|
||||
<module name="air_data"/>
|
||||
<module name="send_imu_mag_current"/>
|
||||
<!--module name="logger_file">
|
||||
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
|
||||
</load-->
|
||||
<load name="video_thread.xml">
|
||||
</module-->
|
||||
<module name="video_thread">
|
||||
<define name="VIDEO_THREAD_FPS" value="4"/>
|
||||
<define name="VIDEO_THREAD_CAMERA" value="bottom_camera"/>
|
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<define name="VIDEO_THREAD_SHOT_PATH" value="/data/ftp/internal_000/images"/>
|
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</load>
|
||||
<load name="cv_blob_locator.xml"/>
|
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<load name="video_rtp_stream.xml">
|
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</module>
|
||||
<module name="cv_blob_locator"/>
|
||||
<module name="video_rtp_stream">
|
||||
<define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/>
|
||||
<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
|
||||
</load>
|
||||
<load name="nav_survey_rectangle_rotorcraft.xml">
|
||||
</module>
|
||||
<module name="nav" type="survey_rectangle_rotorcraft">
|
||||
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
|
||||
</load>
|
||||
<load name="nav_survey_poly_rotorcraft.xml">
|
||||
</module>
|
||||
<module name="nav" type="survey_poly_rotorcraft">
|
||||
<define name="POLYSURVEY_DEFAULT_DISTANCE" value="10"/>
|
||||
</load>
|
||||
<load name="digital_cam_video.xml">
|
||||
</module>
|
||||
<module name="digital_cam_video">
|
||||
<define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="5"/>
|
||||
</load>
|
||||
<load name="video_exif.xml"/>
|
||||
</module>
|
||||
<module name="video_exif"/>
|
||||
</modules>
|
||||
|
||||
<commands>
|
||||
|
||||
@@ -6,56 +6,56 @@
|
||||
<target name="ap" board="bebop"/>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<subsystem name="fdm" type="jsbsim"/>
|
||||
<subsystem name="udp"/>
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
<module name="udp"/>
|
||||
</target>
|
||||
|
||||
<!--define name="USE_SONAR" value="TRUE"/-->
|
||||
|
||||
<!-- Subsystem section -->
|
||||
<subsystem name="telemetry" type="transparent_udp"/>
|
||||
<subsystem name="radio_control" type="datalink"/>
|
||||
<subsystem name="motor_mixing"/>
|
||||
<subsystem name="actuators" type="bebop"/>
|
||||
<subsystem name="imu" type="bebop"/>
|
||||
<subsystem name="gps" type="furuno"/>
|
||||
<subsystem name="stabilization" type="indi"/>
|
||||
<subsystem name="ahrs" type="float_mlkf"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_quat">
|
||||
<module name="telemetry" type="transparent_udp"/>
|
||||
<module name="radio_control" type="datalink"/>
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="bebop"/>
|
||||
<module name="imu" type="bebop"/>
|
||||
<module name="gps" type="furuno"/>
|
||||
<module name="stabilization" type="indi"/>
|
||||
<module name="ahrs" type="float_mlkf"/>
|
||||
<module name="ahrs" type="int_cmpl_quat">
|
||||
<configure name="USE_MAGNETOMETER" value="TRUE"/>
|
||||
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
|
||||
<configure name="SECONDARY_AHRS" value="int_cmpl_quat"/>
|
||||
</subsystem>
|
||||
<subsystem name="ins" type="extended"/>
|
||||
</module>
|
||||
<module name="ins" type="extended"/>
|
||||
</firmware>
|
||||
|
||||
<modules main_freq="512">
|
||||
<load name="geo_mag.xml"/>
|
||||
<load name="air_data.xml"/>
|
||||
<load name="send_imu_mag_current.xml"/>
|
||||
<!--load name="logger_file.xml">
|
||||
<module name="geo_mag"/>
|
||||
<module name="air_data"/>
|
||||
<module name="send_imu_mag_current"/>
|
||||
<!--module name="logger_file">
|
||||
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
|
||||
</load-->
|
||||
<load name="video_thread.xml">
|
||||
</module-->
|
||||
<module name="video_thread">
|
||||
<define name="VIDEO_THREAD_FPS" value="4"/>
|
||||
<define name="VIDEO_THREAD_CAMERA" value="bottom_camera"/>
|
||||
<define name="VIDEO_THREAD_SHOT_PATH" value="/data/ftp/internal_000/images"/>
|
||||
</load>
|
||||
<load name="cv_blob_locator.xml"/>
|
||||
<load name="video_rtp_stream.xml">
|
||||
</module>
|
||||
<module name="cv_blob_locator"/>
|
||||
<module name="video_rtp_stream">
|
||||
<define name="VIEWVIDEO_QUALITY_FACTOR" value="60"/>
|
||||
<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="2"/>
|
||||
</load>
|
||||
<load name="nav_survey_rectangle_rotorcraft.xml">
|
||||
</module>
|
||||
<module name="nav" type="survey_rectangle_rotorcraft">
|
||||
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
|
||||
</load>
|
||||
<load name="nav_survey_poly_rotorcraft.xml">
|
||||
</module>
|
||||
<module name="nav" type="survey_poly_rotorcraft">
|
||||
<define name="POLYSURVEY_DEFAULT_DISTANCE" value="10"/>
|
||||
</load>
|
||||
<load name="digital_cam_video.xml">
|
||||
</module>
|
||||
<module name="digital_cam_video">
|
||||
<define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="5"/>
|
||||
</load>
|
||||
<load name="video_exif.xml"/>
|
||||
</module>
|
||||
<module name="video_exif"/>
|
||||
</modules>
|
||||
|
||||
<commands>
|
||||
|
||||
@@ -6,54 +6,54 @@
|
||||
<target name="ap" board="bebop"/>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<subsystem name="fdm" type="jsbsim"/>
|
||||
<subsystem name="udp"/>
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
<module name="udp"/>
|
||||
</target>
|
||||
|
||||
<!--define name="USE_SONAR" value="TRUE"/-->
|
||||
|
||||
<!-- Subsystem section -->
|
||||
<subsystem name="telemetry" type="transparent_udp"/>
|
||||
<subsystem name="radio_control" type="datalink"/>
|
||||
<subsystem name="motor_mixing"/>
|
||||
<subsystem name="actuators" type="bebop"/>
|
||||
<subsystem name="imu" type="bebop"/>
|
||||
<subsystem name="gps" type="furuno"/>
|
||||
<subsystem name="stabilization" type="indi"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_quat">
|
||||
<module name="telemetry" type="transparent_udp"/>
|
||||
<module name="radio_control" type="datalink"/>
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="bebop"/>
|
||||
<module name="imu" type="bebop"/>
|
||||
<module name="gps" type="furuno"/>
|
||||
<module name="stabilization" type="indi"/>
|
||||
<module name="ahrs" type="int_cmpl_quat">
|
||||
<configure name="USE_MAGNETOMETER" value="TRUE"/>
|
||||
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
|
||||
</subsystem>
|
||||
<subsystem name="ins" type="extended"/>
|
||||
</module>
|
||||
<module name="ins" type="extended"/>
|
||||
</firmware>
|
||||
|
||||
<modules main_freq="512">
|
||||
<load name="geo_mag.xml"/>
|
||||
<load name="air_data.xml"/>
|
||||
<load name="send_imu_mag_current.xml"/>
|
||||
<!--load name="logger_file.xml">
|
||||
<module name="geo_mag"/>
|
||||
<module name="air_data"/>
|
||||
<module name="send_imu_mag_current"/>
|
||||
<!--module name="logger_file">
|
||||
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
|
||||
</load-->
|
||||
<load name="video_thread.xml">
|
||||
</module-->
|
||||
<module name="video_thread">
|
||||
<define name="VIDEO_THREAD_FPS" value="4"/>
|
||||
<define name="VIDEO_THREAD_CAMERA" value="bottom_camera"/>
|
||||
<define name="VIDEO_THREAD_SHOT_PATH" value="/data/ftp/internal_000/images"/>
|
||||
</load>
|
||||
<load name="cv_blob_locator.xml"/>
|
||||
<load name="video_rtp_stream.xml">
|
||||
</module>
|
||||
<module name="cv_blob_locator"/>
|
||||
<module name="video_rtp_stream">
|
||||
<define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/>
|
||||
<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
|
||||
</load>
|
||||
<load name="nav_survey_rectangle_rotorcraft.xml">
|
||||
</module>
|
||||
<module name="nav" type="survey_rectangle_rotorcraft">
|
||||
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
|
||||
</load>
|
||||
<load name="nav_survey_poly_rotorcraft.xml">
|
||||
</module>
|
||||
<module name="nav" type="survey_poly_rotorcraft">
|
||||
<define name="POLYSURVEY_DEFAULT_DISTANCE" value="10"/>
|
||||
</load>
|
||||
<load name="digital_cam_video.xml">
|
||||
</module>
|
||||
<module name="digital_cam_video">
|
||||
<define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="5"/>
|
||||
</load>
|
||||
<load name="video_exif.xml"/>
|
||||
</module>
|
||||
<module name="video_exif"/>
|
||||
</modules>
|
||||
|
||||
<commands>
|
||||
|
||||
@@ -6,45 +6,45 @@
|
||||
<target name="ap" board="bebop"/>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<subsystem name="fdm" type="jsbsim"/>
|
||||
<subsystem name="udp"/>
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
<module name="udp"/>
|
||||
</target>
|
||||
|
||||
<!--define name="USE_SONAR" value="TRUE"/-->
|
||||
|
||||
<!-- Subsystem section -->
|
||||
<subsystem name="telemetry" type="transparent_udp"/>
|
||||
<subsystem name="radio_control" type="datalink"/>
|
||||
<subsystem name="motor_mixing"/>
|
||||
<subsystem name="actuators" type="bebop"/>
|
||||
<subsystem name="imu" type="bebop"/>
|
||||
<subsystem name="gps" type="furuno"/>
|
||||
<subsystem name="stabilization" type="indi"/>
|
||||
<subsystem name="ahrs" type="float_mlkf"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_quat">
|
||||
<module name="telemetry" type="transparent_udp"/>
|
||||
<module name="radio_control" type="datalink"/>
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="bebop"/>
|
||||
<module name="imu" type="bebop"/>
|
||||
<module name="gps" type="furuno"/>
|
||||
<module name="stabilization" type="indi"/>
|
||||
<module name="ahrs" type="float_mlkf"/>
|
||||
<module name="ahrs" type="int_cmpl_quat">
|
||||
<configure name="USE_MAGNETOMETER" value="TRUE"/>
|
||||
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
|
||||
<configure name="SECONDARY_AHRS" value="int_cmpl_quat"/>
|
||||
</subsystem>
|
||||
<subsystem name="ins" type="extended"/>
|
||||
</module>
|
||||
<module name="ins" type="extended"/>
|
||||
</firmware>
|
||||
|
||||
<modules main_freq="512">
|
||||
<load name="geo_mag.xml"/>
|
||||
<load name="air_data.xml"/>
|
||||
<load name="send_imu_mag_current.xml"/>
|
||||
<!--load name="logger_file.xml">
|
||||
<module name="geo_mag"/>
|
||||
<module name="air_data"/>
|
||||
<module name="send_imu_mag_current"/>
|
||||
<!--module name="logger_file">
|
||||
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
|
||||
</load-->
|
||||
<load name="video_thread.xml">
|
||||
</module-->
|
||||
<module name="video_thread">
|
||||
<define name="VIDEO_THREAD_FPS" value="4"/>
|
||||
<define name="VIDEO_THREAD_CAMERA" value="bottom_camera"/>
|
||||
<define name="VIDEO_THREAD_SHOT_PATH" value="/data/ftp/internal_000/images"/>
|
||||
</load>
|
||||
<load name="video_rtp_stream.xml">
|
||||
</module>
|
||||
<module name="video_rtp_stream">
|
||||
<define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/>
|
||||
<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
|
||||
</load>
|
||||
</module>
|
||||
</modules>
|
||||
|
||||
<commands>
|
||||
|
||||
@@ -180,28 +180,28 @@
|
||||
</section>
|
||||
|
||||
<modules main_freq="512">
|
||||
<load name="gps_ubx_ucenter.xml"/>
|
||||
<load name="send_imu_mag_current.xml"/>
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
<module name="send_imu_mag_current"/>
|
||||
</modules>
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<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_KILL_SWITCH" value="RADIO_GEAR"/>-->
|
||||
<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
|
||||
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
|
||||
</target>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<subsystem name="fdm" type="jsbsim"/>
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
<module name="radio_control" type="ppm"/>
|
||||
</target>
|
||||
|
||||
<subsystem name="motor_mixing"/>
|
||||
<subsystem name="actuators" type="pwm">
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="pwm">
|
||||
<!-- 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.
|
||||
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 -->
|
||||
<define name="SERVO_HZ" value="36000"/>
|
||||
<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
|
||||
to use the debug serial interface for telemetry. -->
|
||||
<subsystem name="telemetry" type="superbitrf"/>
|
||||
<subsystem name="imu" type="lisa_s_v1.0">
|
||||
<module name="telemetry" type="superbitrf"/>
|
||||
<module name="imu" type="lisa_s_v1.0">
|
||||
<define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) -->
|
||||
</subsystem>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="stabilization" type="int_quat"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_quat">
|
||||
</module>
|
||||
<module name="gps" type="ublox"/>
|
||||
<module name="stabilization" type="int_quat"/>
|
||||
<module name="ahrs" type="int_cmpl_quat">
|
||||
<configure name="USE_MAGNETOMETER" value="1"/>
|
||||
<define name="AHRS_USE_GPS_HEADING" value="0"/>
|
||||
</subsystem>
|
||||
<subsystem name="ins"/>
|
||||
</module>
|
||||
<module name="ins"/>
|
||||
</firmware>
|
||||
</airframe>
|
||||
|
||||
@@ -180,26 +180,26 @@
|
||||
</section>
|
||||
|
||||
<modules main_freq="512">
|
||||
<load name="gps_ubx_ucenter.xml"/>
|
||||
<load name="send_imu_mag_current.xml"/>
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
<module name="send_imu_mag_current"/>
|
||||
</modules>
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<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"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
|
||||
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
|
||||
</target>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<subsystem name="fdm" type="jsbsim"/>
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
<module name="radio_control" type="ppm"/>
|
||||
</target>
|
||||
|
||||
<subsystem name="motor_mixing"/>
|
||||
<subsystem name="actuators" type="pwm">
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="pwm">
|
||||
<!-- 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.
|
||||
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 -->
|
||||
<define name="SERVO_HZ" value="36000"/>
|
||||
<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
|
||||
to use the debug serial interface for telemetry. -->
|
||||
<subsystem name="telemetry" type="bluegiga"/>
|
||||
<subsystem name="imu" type="lisa_s_v1.0">
|
||||
<module name="telemetry" type="bluegiga"/>
|
||||
<module name="imu" type="lisa_s_v1.0">
|
||||
<define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) -->
|
||||
</subsystem>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="stabilization" type="int_quat"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_quat">
|
||||
</module>
|
||||
<module name="gps" type="ublox"/>
|
||||
<module name="stabilization" type="int_quat"/>
|
||||
<module name="ahrs" type="int_cmpl_quat">
|
||||
<configure name="USE_MAGNETOMETER" value="1"/>
|
||||
<define name="AHRS_USE_GPS_HEADING" value="0"/>
|
||||
</subsystem>
|
||||
<subsystem name="ins"/>
|
||||
</module>
|
||||
<module name="ins"/>
|
||||
</firmware>
|
||||
</airframe>
|
||||
|
||||
@@ -188,24 +188,24 @@
|
||||
</section>
|
||||
|
||||
<modules main_freq="512">
|
||||
<load name="send_imu_mag_current.xml"/>
|
||||
<load name="stereocam.xml">
|
||||
<module name="send_imu_mag_current"/>
|
||||
<module name="stereocam">
|
||||
<configure name="STEREO_UART" value="UART1"/>
|
||||
<configure name="STEREO_BAUD" value="B115200"/>
|
||||
</load>
|
||||
</module>
|
||||
</modules>
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="lisa_s_1.0">
|
||||
<subsystem name="radio_control" type="datalink">
|
||||
</subsystem>
|
||||
<module name="radio_control" type="datalink">
|
||||
</module>
|
||||
<configure name="USE_MAGNETOMETER" value="0"/>
|
||||
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
|
||||
<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
|
||||
</target>
|
||||
|
||||
<subsystem name="motor_mixing"/>
|
||||
<subsystem name="actuators" type="pwm">
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="pwm">
|
||||
<!-- 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.
|
||||
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 -->
|
||||
<define name="SERVO_HZ" value="36000"/>
|
||||
<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
|
||||
to use the debug serial interface for telemetry. -->
|
||||
<subsystem name="telemetry" type="bluegiga"/>
|
||||
<subsystem name="imu" type="lisa_s_v1.0">
|
||||
<module name="telemetry" type="bluegiga"/>
|
||||
<module name="imu" type="lisa_s_v1.0">
|
||||
<define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) -->
|
||||
</subsystem>
|
||||
</module>
|
||||
|
||||
<subsystem name="gps" type="datalink"/>
|
||||
<subsystem name="stabilization" type="int_quat"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_quat"/>
|
||||
<subsystem name="ins"/>
|
||||
<module name="gps" type="datalink"/>
|
||||
<module name="stabilization" type="int_quat"/>
|
||||
<module name="ahrs" type="int_cmpl_quat"/>
|
||||
<module name="ins"/>
|
||||
</firmware>
|
||||
</airframe>
|
||||
|
||||
@@ -187,30 +187,30 @@
|
||||
</section>
|
||||
|
||||
<modules main_freq="512">
|
||||
<load name="geo_mag.xml"/>
|
||||
<load name="air_data.xml"/>
|
||||
<load name="gps_ubx_ucenter.xml"/>
|
||||
<load name="send_imu_mag_current.xml"/>
|
||||
<module name="geo_mag"/>
|
||||
<module name="air_data"/>
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
<module name="send_imu_mag_current"/>
|
||||
</modules>
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<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_KILL_SWITCH" value="RADIO_GEAR"/>-->
|
||||
<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
|
||||
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
|
||||
</target>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<subsystem name="fdm" type="jsbsim"/>
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
<module name="radio_control" type="ppm"/>
|
||||
</target>
|
||||
|
||||
<subsystem name="motor_mixing"/>
|
||||
<subsystem name="actuators" type="pwm">
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="pwm">
|
||||
<!-- 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.
|
||||
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 -->
|
||||
<define name="SERVO_HZ" value="36000"/>
|
||||
<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
|
||||
to use the debug serial interface for telemetry. -->
|
||||
<subsystem name="telemetry" type="superbitrf"/>
|
||||
<subsystem name="imu" type="lisa_s_v1.0">
|
||||
<module name="telemetry" type="superbitrf"/>
|
||||
<module name="imu" type="lisa_s_v1.0">
|
||||
<define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) -->
|
||||
</subsystem>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="stabilization" type="indi"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_quat">
|
||||
</module>
|
||||
<module name="gps" type="ublox"/>
|
||||
<module name="stabilization" type="indi"/>
|
||||
<module name="ahrs" type="int_cmpl_quat">
|
||||
<configure name="USE_MAGNETOMETER" value="0"/>
|
||||
<define name="AHRS_USE_GPS_HEADING" value="0"/>
|
||||
</subsystem>
|
||||
<subsystem name="ins" type="extended"/>
|
||||
</module>
|
||||
<module name="ins" type="extended"/>
|
||||
</firmware>
|
||||
</airframe>
|
||||
|
||||
@@ -13,30 +13,30 @@
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="lisa_mx_2.1"/>
|
||||
<target name="nps" board="pc">
|
||||
<subsystem name="fdm" type="jsbsim"/>
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
</target>
|
||||
|
||||
<subsystem name="radio_control" type="spektrum">
|
||||
<module name="radio_control" type="spektrum">
|
||||
<define name="RADIO_KILL_SWITCH" value="RADIO_AUX1"/>
|
||||
<define name="RADIO_MODE" value="RADIO_GEAR"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
|
||||
<subsystem name="motor_mixing"/>
|
||||
<subsystem name="actuators" type="asctec_v2"/>
|
||||
<subsystem name="actuators" type="pwm"/>
|
||||
<subsystem name="telemetry" type="xbee_api"/>
|
||||
<subsystem name="imu" type="lisa_mx_v2.1"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="stabilization" type="int_quat"/>
|
||||
<subsystem name="ahrs" type="float_mlkf"/>
|
||||
<subsystem name="ins" type="hff"/>
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="asctec_v2"/>
|
||||
<module name="actuators" type="pwm"/>
|
||||
<module name="telemetry" type="xbee_api"/>
|
||||
<module name="imu" type="lisa_mx_v2.1"/>
|
||||
<module name="gps" type="ublox"/>
|
||||
<module name="stabilization" type="int_quat"/>
|
||||
<module name="ahrs" type="float_mlkf"/>
|
||||
<module name="ins" type="hff"/>
|
||||
</firmware>
|
||||
|
||||
<modules>
|
||||
<load name="geo_mag.xml"/>
|
||||
<load name="air_data.xml"/>
|
||||
<load name="servo_switch.xml"/>
|
||||
<load name="gps_ubx_ucenter.xml"/>
|
||||
<module name="geo_mag"/>
|
||||
<module name="air_data"/>
|
||||
<module name="servo_switch"/>
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
</modules>
|
||||
|
||||
<servos driver="Asctec_v2">
|
||||
|
||||
@@ -10,26 +10,26 @@
|
||||
<configure name="MODEM_PORT" value="UART3"/>
|
||||
<configure name="GPS_PORT" value="UART2"/>
|
||||
<!-- <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="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="1"/>
|
||||
<define name="USE_I2C_ACTUATORS_REBOOT_HACK"/>
|
||||
</target>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<subsystem name="fdm" type="jsbsim"/>
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
<module name="radio_control" type="ppm"/>
|
||||
</target>
|
||||
|
||||
<subsystem name="motor_mixing"/>
|
||||
<subsystem name="actuators" type="asctec_v2"/>
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="asctec_v2"/>
|
||||
|
||||
<subsystem name="telemetry" type="xbee_api"/>
|
||||
<subsystem name="imu" type="aspirin_v2.1"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="stabilization" type="int_euler"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_quat"/>
|
||||
<subsystem name="ins" type="hff"/>
|
||||
<module name="telemetry" type="xbee_api"/>
|
||||
<module name="imu" type="aspirin_v2.1"/>
|
||||
<module name="gps" type="ublox"/>
|
||||
<module name="stabilization" type="int_euler"/>
|
||||
<module name="ahrs" type="int_cmpl_quat"/>
|
||||
<module name="ins" type="hff"/>
|
||||
</firmware>
|
||||
|
||||
<section name="AUTOPILOT">
|
||||
@@ -41,9 +41,9 @@
|
||||
<!-- ************************* MODULES ************************* -->
|
||||
|
||||
<modules main_freq="512">
|
||||
<!-- <load name="logger_spi_link.xml"/> -->
|
||||
<load name="imu_quality_assessment.xml"/>
|
||||
<load name="gps_ubx_ucenter.xml" />
|
||||
<!-- <module name="logger_spi_link"/> -->
|
||||
<module name="imu_quality_assessment"/>
|
||||
<module name="gps" type="ubx_ucenter" />
|
||||
</modules>
|
||||
|
||||
<!-- ************************* ACTUATORS ************************* -->
|
||||
|
||||
@@ -8,55 +8,55 @@
|
||||
</target>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<subsystem name="fdm" type="jsbsim"/>
|
||||
<subsystem name="udp"/>
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
<module name="udp"/>
|
||||
<define name="STABILIZATION_INDI_G2_R" value="0.0"/>
|
||||
</target>
|
||||
|
||||
<!--define name="USE_SONAR" value="TRUE"/-->
|
||||
|
||||
<!-- Subsystem section -->
|
||||
<subsystem name="telemetry" type="transparent_udp"/>
|
||||
<subsystem name="radio_control" type="datalink"/>
|
||||
<subsystem name="motor_mixing"/>
|
||||
<subsystem name="actuators" type="bebop"/>
|
||||
<subsystem name="imu" type="bebop"/>
|
||||
<subsystem name="gps" type="furuno"/>
|
||||
<subsystem name="stabilization" type="indi"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_quat">
|
||||
<module name="telemetry" type="transparent_udp"/>
|
||||
<module name="radio_control" type="datalink"/>
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="bebop"/>
|
||||
<module name="imu" type="bebop"/>
|
||||
<module name="gps" type="furuno"/>
|
||||
<module name="stabilization" type="indi"/>
|
||||
<module name="ahrs" type="int_cmpl_quat">
|
||||
<configure name="USE_MAGNETOMETER" value="TRUE"/>
|
||||
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
|
||||
</subsystem>
|
||||
<subsystem name="ins" type="extended"/>
|
||||
</module>
|
||||
<module name="ins" type="extended"/>
|
||||
</firmware>
|
||||
|
||||
<modules main_freq="512">
|
||||
<load name="geo_mag.xml"/>
|
||||
<load name="air_data.xml"/>
|
||||
<load name="send_imu_mag_current.xml"/>
|
||||
<!--load name="logger_file.xml">
|
||||
<module name="geo_mag"/>
|
||||
<module name="air_data"/>
|
||||
<module name="send_imu_mag_current"/>
|
||||
<!--module name="logger_file">
|
||||
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
|
||||
</load-->
|
||||
<load name="video_thread.xml">
|
||||
</module-->
|
||||
<module name="video_thread">
|
||||
<define name="VIDEO_THREAD_FPS" value="4"/>
|
||||
<define name="VIDEO_THREAD_CAMERA" value="bottom_camera"/>
|
||||
<define name="VIDEO_THREAD_SHOT_PATH" value="/data/ftp/internal_000/images"/>
|
||||
</load>
|
||||
<load name="cv_blob_locator.xml"/>
|
||||
<load name="video_rtp_stream.xml">
|
||||
</module>
|
||||
<module name="cv_blob_locator"/>
|
||||
<module name="video_rtp_stream">
|
||||
<define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/>
|
||||
<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
|
||||
</load>
|
||||
<load name="nav_survey_rectangle_rotorcraft.xml">
|
||||
</module>
|
||||
<module name="nav" type="survey_rectangle_rotorcraft">
|
||||
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
|
||||
</load>
|
||||
<load name="nav_survey_poly_rotorcraft.xml">
|
||||
</module>
|
||||
<module name="nav" type="survey_poly_rotorcraft">
|
||||
<define name="POLYSURVEY_DEFAULT_DISTANCE" value="10"/>
|
||||
</load>
|
||||
<load name="digital_cam_video.xml">
|
||||
</module>
|
||||
<module name="digital_cam_video">
|
||||
<define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="5"/>
|
||||
</load>
|
||||
<load name="video_exif.xml"/>
|
||||
</module>
|
||||
<module name="video_exif"/>
|
||||
</modules>
|
||||
|
||||
<commands>
|
||||
|
||||
@@ -157,11 +157,11 @@ YAPA + XSens + XBee
|
||||
|
||||
|
||||
<modules>
|
||||
<load name="ahrs_chimu_spi.xml" >
|
||||
<module name="ahrs_chimu_spi" >
|
||||
<define name="CHIMU_BIG_ENDIAN" />
|
||||
</load>
|
||||
<load name="cam_point.xml" />
|
||||
<load name="gps_ubx_ucenter.xml"/>
|
||||
</module>
|
||||
<module name="cam_point" />
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
</modules>
|
||||
|
||||
<firmware name="fixedwing">
|
||||
@@ -176,22 +176,22 @@ YAPA + XSens + XBee
|
||||
</target>
|
||||
<!-- <target name="sim" board="pc"/> -->
|
||||
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<subsystem name="gps" type="ublox" />
|
||||
<module name="radio_control" type="ppm"/>
|
||||
<module name="gps" type="ublox" />
|
||||
|
||||
|
||||
<!-- Communication -->
|
||||
<subsystem name="telemetry" type="xbee_api">
|
||||
<module name="telemetry" type="xbee_api">
|
||||
<configure name="MODEM_BAUD" value="B9600"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
|
||||
<!-- Actuators -->
|
||||
<subsystem name="control"/>
|
||||
<module name="control"/>
|
||||
<!-- Sensors -->
|
||||
<subsystem name="navigation"/>
|
||||
<module name="navigation"/>
|
||||
|
||||
<subsystem name="spi_slave_hs"/>
|
||||
<subsystem name="ins" type="alt_float"/>
|
||||
<module name="spi_slave_hs"/>
|
||||
<module name="ins" type="alt_float"/>
|
||||
</firmware>
|
||||
|
||||
</airframe>
|
||||
|
||||
@@ -150,9 +150,9 @@
|
||||
|
||||
|
||||
<modules>
|
||||
<load name="ins_chimu_spi.xml" >
|
||||
<module name="ins_chimu_spi" >
|
||||
<define name="CHIMU_BIG_ENDIAN" />
|
||||
</load>
|
||||
</module>
|
||||
|
||||
</modules>
|
||||
|
||||
@@ -166,20 +166,20 @@
|
||||
</target>
|
||||
<target name="sim" board="pc"/>
|
||||
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<subsystem name="gps" type="ublox" />
|
||||
<module name="radio_control" type="ppm"/>
|
||||
<module name="gps" type="ublox" />
|
||||
<!-- Communication -->
|
||||
<subsystem name="telemetry" type="xbee_api">
|
||||
<module name="telemetry" type="xbee_api">
|
||||
<configure name="MODEM_BAUD" value="B9600"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
|
||||
<!-- Actuators -->
|
||||
<subsystem name="control"/>
|
||||
<module name="control"/>
|
||||
<!-- Sensors -->
|
||||
<subsystem name="navigation"/>
|
||||
<!-- <subsystem name="gps" type="ublox"/> -->
|
||||
<module name="navigation"/>
|
||||
<!-- <module name="gps" type="ublox"/> -->
|
||||
|
||||
<subsystem name="spi_slave_hs"/>
|
||||
<module name="spi_slave_hs"/>
|
||||
|
||||
</firmware>
|
||||
|
||||
|
||||
@@ -184,8 +184,8 @@
|
||||
<define name="USE_AD0_3"/>
|
||||
<define name="ADC_6" value="AdcBank0\(3\)"/>
|
||||
|
||||
<subsystem name="control"/>
|
||||
<subsystem name="navigation"/>
|
||||
<module name="control"/>
|
||||
<module name="navigation"/>
|
||||
</target>
|
||||
|
||||
<target name="fbw" board="classix">
|
||||
@@ -198,8 +198,8 @@
|
||||
</target>
|
||||
|
||||
<target name="sim" board="pc">
|
||||
<subsystem name="control"/>
|
||||
<subsystem name="navigation"/>
|
||||
<module name="control"/>
|
||||
<module name="navigation"/>
|
||||
</target>
|
||||
|
||||
<define name="DC_IMAGE_BUFFER" value="65000" />
|
||||
@@ -209,12 +209,12 @@
|
||||
<define name="LOITER_TRIM"/>
|
||||
<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_BAUD" value="B9600"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
|
||||
<module name="ins" type="xsens">
|
||||
<configure name="XSENS_PORT" value="uart1"/>
|
||||
@@ -223,15 +223,15 @@
|
||||
</firmware>
|
||||
|
||||
<modules>
|
||||
<load name="digital_cam.xml">
|
||||
<module name="digital_cam">
|
||||
<define name="DC_SHUTTER_GPIO" value="GPIOA,GPIO15"/>
|
||||
</load>
|
||||
<load name="adc_generic.xml">
|
||||
</module>
|
||||
<module name="adc_generic">
|
||||
<define name="ADC_CHANNEL_GENERIC_NB_SAMPLES" value="32"/>
|
||||
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_6"/> <!-- e.g. current sensor -->
|
||||
</load>
|
||||
<load name="photogrammetry_calculator.xml" />
|
||||
<load name="nav_line.xml"/>
|
||||
</module>
|
||||
<module name="photogrammetry_calculator" />
|
||||
<module name="nav" type="line"/>
|
||||
</modules>
|
||||
|
||||
<!--+-+-+-+-+-+-+- PHOTOGRAMMETRY -+-+-+-+-+-+-+-->
|
||||
|
||||
@@ -7,27 +7,27 @@
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<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="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="1"/>
|
||||
<define name="USE_I2C_ACTUATORS_REBOOT_HACK"/>
|
||||
</target>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<subsystem name="fdm" type="jsbsim"/>
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
<module name="radio_control" type="ppm"/>
|
||||
</target>
|
||||
|
||||
<subsystem name="motor_mixing"/>
|
||||
<subsystem name="actuators" type="asctec_v2"/>
|
||||
<subsystem name="actuators" type="pwm"/>
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="asctec_v2"/>
|
||||
<module name="actuators" type="pwm"/>
|
||||
|
||||
<subsystem name="telemetry" type="xbee_api"/>
|
||||
<subsystem name="imu" type="lisa_mx_v2.1"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="stabilization" type="int_quat"/>
|
||||
<subsystem name="ahrs" type="float_mlkf"/>
|
||||
<subsystem name="ins" type="hff"/>
|
||||
<module name="telemetry" type="xbee_api"/>
|
||||
<module name="imu" type="lisa_mx_v2.1"/>
|
||||
<module name="gps" type="ublox"/>
|
||||
<module name="stabilization" type="int_quat"/>
|
||||
<module name="ahrs" type="float_mlkf"/>
|
||||
<module name="ins" type="hff"/>
|
||||
</firmware>
|
||||
|
||||
<section name="AUTOPILOT">
|
||||
@@ -40,14 +40,14 @@
|
||||
<!-- ************************* MODULES ************************* -->
|
||||
|
||||
<modules main_freq="512">
|
||||
<!-- <load name="logger_spi_link.xml"/>
|
||||
<load name="imu_quality_assessment.xml"/> -->
|
||||
<load name="servo_switch.xml"/>
|
||||
<load name="send_imu_mag_current.xml"/>
|
||||
<load name="gps_ubx_ucenter.xml" />
|
||||
<load name="nav_survey_rectangle_rotorcraft.xml"/>
|
||||
<load name="nav_survey_poly_rotorcraft.xml"/>
|
||||
<load name="geo_mag.xml"/>
|
||||
<!-- <module name="logger_spi_link"/>
|
||||
<module name="imu_quality_assessment"/> -->
|
||||
<module name="servo_switch"/>
|
||||
<module name="send_imu_mag_current"/>
|
||||
<module name="gps" type="ubx_ucenter" />
|
||||
<module name="nav" type="survey_rectangle_rotorcraft"/>
|
||||
<module name="nav" type="survey_poly_rotorcraft"/>
|
||||
<module name="geo_mag"/>
|
||||
</modules>
|
||||
|
||||
<!-- ************************* ACTUATORS ************************* -->
|
||||
|
||||
@@ -32,18 +32,18 @@ LiPo/LiIo-Zellen: 3
|
||||
<define name="USE_ATTITUDE_REF" value="1" />
|
||||
<define name="AHRS_PROPAGATE_LOW_PASS_RATES" value="1" />
|
||||
</target>
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<subsystem name="telemetry" type="xbee_api"/>
|
||||
<subsystem name="motor_mixing"/>
|
||||
<subsystem name="actuators" type="mkk_v2"/>
|
||||
<subsystem name="actuators" type="pwm">
|
||||
<module name="radio_control" type="ppm"/>
|
||||
<module name="telemetry" type="xbee_api"/>
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="mkk_v2"/>
|
||||
<module name="actuators" type="pwm">
|
||||
<define name="USE_PWM0"/>
|
||||
</subsystem>
|
||||
<subsystem name="imu" type="aspirin_v2.1"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="stabilization" type="int_euler"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_euler"/>
|
||||
<subsystem name="ins" type="hff"/>
|
||||
</module>
|
||||
<module name="imu" type="aspirin_v2.1"/>
|
||||
<module name="gps" type="ublox"/>
|
||||
<module name="stabilization" type="int_euler"/>
|
||||
<module name="ahrs" type="int_cmpl_euler"/>
|
||||
<module name="ins" type="hff"/>
|
||||
</firmware>
|
||||
|
||||
<section name="AUTOPILOT">
|
||||
@@ -55,8 +55,8 @@ LiPo/LiIo-Zellen: 3
|
||||
<!-- ************************* MODULES ************************* -->
|
||||
|
||||
<modules>
|
||||
<load name="configure_actuators_mkk_v2.xml"/>
|
||||
<load name="imu_quality_assessment.xml"/>
|
||||
<module name="configure_actuators_mkk_v2"/>
|
||||
<module name="imu_quality_assessment"/>
|
||||
</modules>
|
||||
|
||||
<!-- ************************* ACTUATORS ************************* -->
|
||||
|
||||
@@ -20,22 +20,22 @@
|
||||
<configure name="CPU_LED" value="1"/>
|
||||
<define name="LINK_MCU_LED" value="4"/>
|
||||
<!-- FBW -->
|
||||
<subsystem name="actuators" type="dummy"/>
|
||||
<subsystem name="intermcu" type="uart">
|
||||
<module name="actuators" type="dummy"/>
|
||||
<module name="intermcu" type="uart">
|
||||
<configure name="INTERMCU_PORT" value="UART2"/>
|
||||
</subsystem>
|
||||
<subsystem name="radio_control" type="sbus_dual">
|
||||
</module>
|
||||
<module name="radio_control" type="sbus_dual">
|
||||
<configure name="SBUS1_PORT" value="UART3"/>
|
||||
<configure name="SBUS2_PORT" value="UART5"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
<!-- AP -->
|
||||
<subsystem name="control"/>
|
||||
<subsystem name="navigation"/>
|
||||
<module name="control"/>
|
||||
<module name="navigation"/>
|
||||
<!-- Communication -->
|
||||
<subsystem name="telemetry" type="xbee_api">
|
||||
<module name="telemetry" type="xbee_api">
|
||||
<configure name="MODEM_BAUD" value="B9600"/>
|
||||
<configure name="MODEM_PORT" value="UART3"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
<module name="ins" type="xsens700">
|
||||
<configure name="XSENS_PORT" value="uart1"/>
|
||||
<configure name="XSENS_BAUD" value="B230400"/>
|
||||
@@ -48,28 +48,28 @@
|
||||
<configure name="HAS_LUFTBOOT" value="0"/>
|
||||
<!-- no usb -->
|
||||
<!-- RC -->
|
||||
<subsystem name="radio_control" type="sbus_dual">
|
||||
<module name="radio_control" type="sbus_dual">
|
||||
<configure name="SBUS1_PORT" value="UART3"/>
|
||||
<configure name="SBUS2_PORT" value="UART5"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
<!-- FBW <-> AP -->
|
||||
<subsystem name="intermcu" type="uart">
|
||||
<module name="intermcu" type="uart">
|
||||
<configure name="INTERMCU_PORT" value="UART1"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
<!-- SERVO'S -->
|
||||
<subsystem name="actuators" type="pwm"/>
|
||||
<module name="actuators" type="pwm"/>
|
||||
<define name="USE_SERVOS_7AND8"/>
|
||||
</target>
|
||||
<target name="sim" board="pc">
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<module name="radio_control" type="ppm"/>
|
||||
<!-- AP -->
|
||||
<subsystem name="control"/>
|
||||
<subsystem name="navigation"/>
|
||||
<module name="control"/>
|
||||
<module name="navigation"/>
|
||||
<!-- Communication -->
|
||||
<subsystem name="telemetry" type="xbee_api">
|
||||
<module name="telemetry" type="xbee_api">
|
||||
<configure name="MODEM_BAUD" value="B9600"/>
|
||||
<configure name="MODEM_PORT" value="UART3"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
<module name="ins" type="xsens700">
|
||||
<configure name="XSENS_PORT" value="uart1"/>
|
||||
<configure name="XSENS_BAUD" value="B230400"/>
|
||||
@@ -87,14 +87,14 @@
|
||||
<!-- ************************* MODULES ************************* -->
|
||||
|
||||
<modules>
|
||||
<load name="light.xml">
|
||||
<module name="light">
|
||||
<define name="LIGHT_LED_STROBE" value="6"/>
|
||||
<!-- <define name="LIGHT_LED_NAV" value="2"/> -->
|
||||
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
|
||||
<define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
|
||||
</load>
|
||||
<load name="nav_line.xml"/>
|
||||
<!--load name="gas_engine_idle.xml"/-->
|
||||
</module>
|
||||
<module name="nav" type="line"/>
|
||||
<!--module name="gas_engine_idle"/-->
|
||||
</modules>
|
||||
|
||||
<!-- ************************* ACTUATORS ************************* -->
|
||||
|
||||
@@ -16,15 +16,15 @@
|
||||
<define name="LOITER_TRIM"/>
|
||||
<define name="TUNE_AGRESSIVE_CLIMB"/>
|
||||
<define name="AGR_CLIMB"/>
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<module name="radio_control" type="ppm"/>
|
||||
<!-- Communication -->
|
||||
<subsystem name="telemetry" type="xbee_api">
|
||||
<module name="telemetry" type="xbee_api">
|
||||
<configure name="MODEM_BAUD" value="B9600"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
<!-- Actuators -->
|
||||
<subsystem name="control"/>
|
||||
<module name="control"/>
|
||||
<!-- Sensors -->
|
||||
<subsystem name="navigation"/>
|
||||
<module name="navigation"/>
|
||||
<module name="ins" type="xsens">
|
||||
<configure name="XSENS_PORT" value="uart0"/>
|
||||
<configure name="XSENS_BAUD" value="B230400"/>
|
||||
@@ -34,18 +34,18 @@
|
||||
<!-- ************************* MODULES ************************* -->
|
||||
|
||||
<modules>
|
||||
<load name="light.xml">
|
||||
<module name="light">
|
||||
<define name="LIGHT_LED_STROBE" value="1"/>
|
||||
<!-- <define name="LIGHT_LED_NAV" value="2"/> -->
|
||||
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
|
||||
<define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
|
||||
</load>
|
||||
<!-- <load name="digital_cam_i2c.xml"/> -->
|
||||
<!-- <load name="ins_ppzuavimu.xml"/> -->
|
||||
<load name="digital_cam.xml">
|
||||
</module>
|
||||
<!-- <module name="digital_cam_i2c"/> -->
|
||||
<!-- <module name="ins_ppzuavimu"/> -->
|
||||
<module name="digital_cam">
|
||||
<define name="DC_SHUTTER_GPIO" value="GPIOB,GPIO16"/>
|
||||
</load>
|
||||
<load name="nav_line.xml"/>
|
||||
</module>
|
||||
<module name="nav" type="line"/>
|
||||
</modules>
|
||||
|
||||
<!-- ************************* ACTUATORS ************************* -->
|
||||
|
||||
@@ -150,9 +150,9 @@
|
||||
|
||||
|
||||
<modules>
|
||||
<load name="ins_chimu_spi.xml" >
|
||||
<module name="ins_chimu_spi" >
|
||||
<!-- <define name="CHIMU_BIG_ENDIAN" /> -->
|
||||
</load>
|
||||
</module>
|
||||
|
||||
</modules>
|
||||
|
||||
@@ -166,21 +166,21 @@
|
||||
</target>
|
||||
<target name="sim" board="pc"/>
|
||||
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<subsystem name="gps" type="ublox" />
|
||||
<module name="radio_control" type="ppm"/>
|
||||
<module name="gps" type="ublox" />
|
||||
|
||||
<!-- Communication -->
|
||||
<subsystem name="telemetry" type="xbee_api">
|
||||
<module name="telemetry" type="xbee_api">
|
||||
<configure name="MODEM_BAUD" value="B9600"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
|
||||
<!-- Actuators -->
|
||||
<subsystem name="control"/>
|
||||
<module name="control"/>
|
||||
<!-- Sensors -->
|
||||
<subsystem name="navigation"/>
|
||||
<!-- <subsystem name="gps" type="ublox"/> -->
|
||||
<module name="navigation"/>
|
||||
<!-- <module name="gps" type="ublox"/> -->
|
||||
|
||||
<subsystem name="spi_slave_hs"/>
|
||||
<module name="spi_slave_hs"/>
|
||||
|
||||
</firmware>
|
||||
|
||||
|
||||
@@ -131,9 +131,9 @@
|
||||
</section>
|
||||
|
||||
<modules>
|
||||
<load name="ins_chimu_uart.xml">
|
||||
<module name="ins_chimu_uart">
|
||||
<configure name="CHIMU_UART_NR" value="3"/>
|
||||
</load>
|
||||
</module>
|
||||
</modules>
|
||||
|
||||
<firmware name="fixedwing">
|
||||
@@ -144,17 +144,17 @@
|
||||
<define name="AGR_CLIMB" />
|
||||
<define name="LOITER_TRIM" />
|
||||
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<module name="radio_control" type="ppm"/>
|
||||
|
||||
<!-- Communication -->
|
||||
<subsystem name="telemetry" type="transparent">
|
||||
<module name="telemetry" type="transparent">
|
||||
<configure name="MODEM_BAUD" value="B9600"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
|
||||
<subsystem name="control"/>
|
||||
<module name="control"/>
|
||||
<!-- Sensors -->
|
||||
<subsystem name="gps" type="ublox_utm"/>
|
||||
<subsystem name="navigation"/>
|
||||
<module name="gps" type="ublox_utm"/>
|
||||
<module name="navigation"/>
|
||||
</firmware>
|
||||
|
||||
|
||||
|
||||
@@ -150,11 +150,11 @@
|
||||
|
||||
|
||||
<modules>
|
||||
<load name="ins_chimu_uart.xml">
|
||||
<module name="ins_chimu_uart">
|
||||
<configure name="CHIMU_UART_NR" value="0"/>
|
||||
</load>
|
||||
</module>
|
||||
|
||||
<load name="gps_i2c.xml" />
|
||||
<module name="gps" type="i2c" />
|
||||
|
||||
</modules>
|
||||
|
||||
@@ -167,21 +167,21 @@
|
||||
</target>
|
||||
<target name="sim" board="pc"/>
|
||||
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<subsystem name="gps" type="ublox" >
|
||||
<module name="radio_control" type="ppm"/>
|
||||
<module name="gps" type="ublox" >
|
||||
<configure name="GPS_PORT" value="gps_i2c" />
|
||||
</subsystem>
|
||||
</module>
|
||||
|
||||
<!-- Communication -->
|
||||
<subsystem name="telemetry" type="xbee_api">
|
||||
<module name="telemetry" type="xbee_api">
|
||||
<configure name="MODEM_BAUD" value="B9600"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
|
||||
<!-- Actuators -->
|
||||
<subsystem name="control"/>
|
||||
<module name="control"/>
|
||||
<!-- Sensors -->
|
||||
<subsystem name="navigation"/>
|
||||
<!-- <subsystem name="gps" type="ublox"/> -->
|
||||
<module name="navigation"/>
|
||||
<!-- <module name="gps" type="ublox"/> -->
|
||||
|
||||
|
||||
</firmware>
|
||||
|
||||
@@ -201,21 +201,21 @@
|
||||
|
||||
<modules>
|
||||
<!--
|
||||
<load name="light.xml">
|
||||
<module name="light">
|
||||
<define name="LIGHT_LED_STROBE" value="3"/>
|
||||
<define name="LIGHT_LED_NAV" value="2"/>
|
||||
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
|
||||
<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"/>
|
||||
</load>
|
||||
</module>
|
||||
-->
|
||||
</modules>
|
||||
|
||||
@@ -240,29 +240,29 @@
|
||||
|
||||
<!-- Sensors -->
|
||||
<!--
|
||||
<subsystem name="ahrs" type="int_cmpl_quat">
|
||||
<module name="ahrs" type="int_cmpl_quat">
|
||||
<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" />
|
||||
</subsystem>
|
||||
<subsystem name="imu" type="aspirin_i2c"/>
|
||||
</module>
|
||||
<module name="imu" type="aspirin_i2c"/>
|
||||
-->
|
||||
<subsystem name="imu" type="aspirin2_i2c"/>
|
||||
<subsystem name="ahrs" type="float_dcm">
|
||||
<module name="imu" type="aspirin2_i2c"/>
|
||||
<module name="ahrs" type="float_dcm">
|
||||
<!-- <configure name="USE_MAGNETOMETER" /> -->
|
||||
</subsystem>
|
||||
</module>
|
||||
|
||||
<subsystem name="ins" type="alt_float"/>
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<module name="ins" type="alt_float"/>
|
||||
<module name="radio_control" type="ppm"/>
|
||||
|
||||
<!-- Communication -->
|
||||
<subsystem name="telemetry" type="xbee_api">
|
||||
<module name="telemetry" type="xbee_api">
|
||||
<configure name="MODEM_BAUD" value="B9600"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
|
||||
<!-- Actuators -->
|
||||
<subsystem name="control"/>
|
||||
<module name="control"/>
|
||||
<!-- Sensors -->
|
||||
<subsystem name="navigation"/>
|
||||
<subsystem name="gps" type="ublox_utm"/>
|
||||
<module name="navigation"/>
|
||||
<module name="gps" type="ublox_utm"/>
|
||||
|
||||
|
||||
</firmware>
|
||||
|
||||
@@ -18,35 +18,35 @@
|
||||
|
||||
<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"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<subsystem name="fdm" type="jsbsim"/>
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
</target>
|
||||
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<module name="gps" type="ublox"/>
|
||||
|
||||
<subsystem name="motor_mixing"/>
|
||||
<subsystem name="actuators" type="pwm">
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="pwm">
|
||||
<define name="SERVO_HZ" value="400"/>
|
||||
<define name="USE_SERVOS_7AND8"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
|
||||
<subsystem name="telemetry" type="transparent"/>
|
||||
<subsystem name="imu" type="aspirin_v2.1"/>
|
||||
<module name="telemetry" type="transparent"/>
|
||||
<module name="imu" type="aspirin_v2.1"/>
|
||||
|
||||
<subsystem name="stabilization" type="int_quat"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_quat">
|
||||
<module name="stabilization" type="int_quat"/>
|
||||
<module name="ahrs" type="int_cmpl_quat">
|
||||
<define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="30"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
|
||||
<configure name="GPS_LED" value="4"/>
|
||||
<configure name="RADIO_CONTROL_LED" value="3"/>
|
||||
<configure name="AHRS_ALIGNER_LED" value="2"/>
|
||||
|
||||
<subsystem name="ins"/>
|
||||
<module name="ins"/>
|
||||
|
||||
<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
|
||||
</firmware>
|
||||
|
||||
@@ -187,42 +187,42 @@ B2L -> CW
|
||||
</section>
|
||||
|
||||
<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"/>
|
||||
</load>
|
||||
</module>
|
||||
</modules>
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<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_KILL_SWITCH" value="RADIO_GEAR"/>
|
||||
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
</target>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<subsystem name="fdm" type="jsbsim"/>
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
<module name="radio_control" type="ppm"/>
|
||||
</target>
|
||||
|
||||
<subsystem name="motor_mixing"/>
|
||||
<subsystem name="actuators" type="pwm">
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="pwm">
|
||||
<define name="SERVO_HZ" value="400"/>
|
||||
<define name="USE_SERVOS_7AND8"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
|
||||
<subsystem name="telemetry" type="transparent"/>
|
||||
<subsystem name="imu" type="aspirin_v2.1"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="stabilization" type="int_quat"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_quat"/>
|
||||
<subsystem name="ins"/>
|
||||
<module name="telemetry" type="transparent"/>
|
||||
<module name="imu" type="aspirin_v2.1"/>
|
||||
<module name="gps" type="ublox"/>
|
||||
<module name="stabilization" type="int_quat"/>
|
||||
<module name="ahrs" type="int_cmpl_quat"/>
|
||||
<module name="ins"/>
|
||||
<!--define name="USE_INS_NAV_INIT"/-->
|
||||
<!--subsystem name="stabilization" type="int_euler"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_euler"/-->
|
||||
<!--module name="stabilization" type="int_euler"/>
|
||||
<module name="ahrs" type="int_cmpl_euler"/-->
|
||||
</firmware>
|
||||
|
||||
</airframe>
|
||||
|
||||
@@ -175,45 +175,45 @@
|
||||
|
||||
<!--//////////////INCLUDE THE GAIN SCHEDULING MODULE\\\\\\\\\\\\\\\\-->
|
||||
<modules main_freq="512">
|
||||
<load name="gps_ubx_ucenter.xml"/>
|
||||
<load name="led_safety_status.xml">
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
<module name="led_safety_status">
|
||||
<define name="USE_LED_BODY" value="1"/>
|
||||
<define name="SAFETY_WARNING_LED" value="BODY"/>
|
||||
</load>
|
||||
<!-- FIXME <load name="gain_scheduling.xml"/>-->
|
||||
</module>
|
||||
<!-- FIXME <module name="gain_scheduling"/>-->
|
||||
</modules>
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<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"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
<configure name="LISA_M_BARO" value="BARO_MS5611_SPI"/>
|
||||
</target>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<subsystem name="fdm" type="jsbsim"/>
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
<module name="radio_control" type="ppm"/>
|
||||
</target>
|
||||
|
||||
<subsystem name="motor_mixing"/>
|
||||
<subsystem name="actuators" type="pwm">
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="pwm">
|
||||
<define name="SERVO_HZ" value="400"/>
|
||||
<define name="USE_SERVOS_7AND8"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
|
||||
<subsystem name="telemetry" type="transparent"/>
|
||||
<subsystem name="imu" type="aspirin_v2.1"/>
|
||||
<!--subsystem name="imu" type="aspirin_v1.0"/-->
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="stabilization" type="int_quat"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_quat">
|
||||
<module name="telemetry" type="transparent"/>
|
||||
<module name="imu" type="aspirin_v2.1"/>
|
||||
<!--module name="imu" type="aspirin_v1.0"/-->
|
||||
<module name="gps" type="ublox"/>
|
||||
<module name="stabilization" type="int_quat"/>
|
||||
<module name="ahrs" type="int_cmpl_quat">
|
||||
<configure name="USE_MAGNETOMETER" value="0"/>
|
||||
<define name="AHRS_USE_GPS_HEADING" value="1"/>
|
||||
</subsystem>
|
||||
<subsystem name="ins"/>
|
||||
</module>
|
||||
<module name="ins"/>
|
||||
<!--define name="USE_INS_NAV_INIT"/-->
|
||||
<!--subsystem name="stabilization" type="int_euler"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_euler"/-->
|
||||
<!--module name="stabilization" type="int_euler"/>
|
||||
<module name="ahrs" type="int_cmpl_euler"/-->
|
||||
</firmware>
|
||||
</airframe>
|
||||
|
||||
@@ -184,41 +184,41 @@
|
||||
</section>
|
||||
|
||||
<modules main_freq="512">
|
||||
<load name="gps_ubx_ucenter.xml"/>
|
||||
<load name="led_safety_status.xml">
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
<module name="led_safety_status">
|
||||
<define name="SAFETY_WARNING_LED" value="5"/>
|
||||
</load>
|
||||
</module>
|
||||
</modules>
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<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_KILL_SWITCH" value="RADIO_GEAR"/>
|
||||
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
</target>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<subsystem name="fdm" type="jsbsim"/>
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
<module name="radio_control" type="ppm"/>
|
||||
</target>
|
||||
|
||||
<subsystem name="motor_mixing"/>
|
||||
<subsystem name="actuators" type="pwm">
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="pwm">
|
||||
<define name="SERVO_HZ" value="400"/>
|
||||
<define name="USE_SERVOS_7AND8"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
|
||||
<subsystem name="telemetry" type="transparent"/>
|
||||
<subsystem name="imu" type="aspirin_v2.1"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="stabilization" type="int_quat"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_quat"/>
|
||||
<subsystem name="ins"/>
|
||||
<module name="telemetry" type="transparent"/>
|
||||
<module name="imu" type="aspirin_v2.1"/>
|
||||
<module name="gps" type="ublox"/>
|
||||
<module name="stabilization" type="int_quat"/>
|
||||
<module name="ahrs" type="int_cmpl_quat"/>
|
||||
<module name="ins"/>
|
||||
<!--define name="USE_INS_NAV_INIT"/-->
|
||||
<!--subsystem name="stabilization" type="int_euler"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_euler"/-->
|
||||
<!--module name="stabilization" type="int_euler"/>
|
||||
<module name="ahrs" type="int_cmpl_euler"/-->
|
||||
</firmware>
|
||||
|
||||
</airframe>
|
||||
|
||||
@@ -145,39 +145,39 @@
|
||||
</section>
|
||||
|
||||
<modules main_freq="512">
|
||||
<load name="gps_ubx_ucenter.xml"/>
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
</modules>
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<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_KILL_SWITCH" value="RADIO_GEAR"/>
|
||||
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
</target>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<subsystem name="fdm" type="jsbsim"/>
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
<module name="radio_control" type="ppm"/>
|
||||
</target>
|
||||
|
||||
<subsystem name="motor_mixing"/>
|
||||
<subsystem name="actuators" type="pwm">
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="pwm">
|
||||
<define name="SERVO_HZ" value="400"/>
|
||||
<define name="USE_SERVOS_7AND8"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
|
||||
<subsystem name="telemetry" type="transparent"/>
|
||||
<subsystem name="imu" type="aspirin_v2.1"/>
|
||||
<module name="telemetry" type="transparent"/>
|
||||
<module name="imu" type="aspirin_v2.1"/>
|
||||
<define name="LISA_M_LONGITUDINAL_X"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="stabilization" type="int_quat"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_quat"/>
|
||||
<subsystem name="ins"/>
|
||||
<module name="gps" type="ublox"/>
|
||||
<module name="stabilization" type="int_quat"/>
|
||||
<module name="ahrs" type="int_cmpl_quat"/>
|
||||
<module name="ins"/>
|
||||
<!--define name="USE_INS_NAV_INIT"/-->
|
||||
<!--subsystem name="stabilization" type="int_euler"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_euler"/-->
|
||||
<!--module name="stabilization" type="int_euler"/>
|
||||
<module name="ahrs" type="int_cmpl_euler"/-->
|
||||
</firmware>
|
||||
|
||||
</airframe>
|
||||
|
||||
@@ -159,43 +159,43 @@
|
||||
</section>
|
||||
|
||||
<modules main_freq="512">
|
||||
<load name="gps_ubx_ucenter.xml"/>
|
||||
<load name="led_safety_status.xml">
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
<module name="led_safety_status">
|
||||
<define name="USE_LED_BODY" value="1"/>
|
||||
<define name="SAFETY_WARNING_LED" value="5"/>
|
||||
</load>
|
||||
</module>
|
||||
</modules>
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<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"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
</target>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<subsystem name="fdm" type="jsbsim"/>
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
<module name="radio_control" type="ppm"/>
|
||||
</target>
|
||||
|
||||
<subsystem name="motor_mixing"/>
|
||||
<subsystem name="actuators" type="pwm">
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="pwm">
|
||||
<define name="SERVO_HZ" value="400"/>
|
||||
<define name="USE_SERVOS_7AND8"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
|
||||
<subsystem name="telemetry" type="transparent"/>
|
||||
<subsystem name="imu" type="aspirin_v2.1"/>
|
||||
<module name="telemetry" type="transparent"/>
|
||||
<module name="imu" type="aspirin_v2.1"/>
|
||||
<define name="LISA_M_LONGITUDINAL_X"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="stabilization" type="int_quat"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_quat">
|
||||
<module name="gps" type="ublox"/>
|
||||
<module name="stabilization" type="int_quat"/>
|
||||
<module name="ahrs" type="int_cmpl_quat">
|
||||
<configure name="USE_MAGNETOMETER" value="0"/>
|
||||
</subsystem>
|
||||
<subsystem name="ins"/>
|
||||
</module>
|
||||
<module name="ins"/>
|
||||
<!--define name="USE_INS_NAV_INIT"/-->
|
||||
<!--subsystem name="stabilization" type="int_euler"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_euler"/-->
|
||||
<!--module name="stabilization" type="int_euler"/>
|
||||
<module name="ahrs" type="int_cmpl_euler"/-->
|
||||
</firmware>
|
||||
|
||||
</airframe>
|
||||
|
||||
@@ -184,45 +184,45 @@
|
||||
</section>
|
||||
|
||||
<modules main_freq="512">
|
||||
<load name="gps_ubx_ucenter.xml"/>
|
||||
<load name="led_safety_status.xml">
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
<module name="led_safety_status">
|
||||
<define name="USE_LED_BODY" value="1"/>
|
||||
<define name="SAFETY_WARNING_LED" value="BODY"/>
|
||||
</load>
|
||||
<!--load name="gain_scheduling.xml"/-->
|
||||
</module>
|
||||
<!--module name="gain_scheduling"/-->
|
||||
</modules>
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<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"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
<configure name="LISA_M_BARO" value="BARO_MS5611_SPI"/>
|
||||
</target>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<subsystem name="fdm" type="jsbsim"/>
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
<module name="radio_control" type="ppm"/>
|
||||
</target>
|
||||
|
||||
<subsystem name="motor_mixing"/>
|
||||
<subsystem name="actuators" type="pwm">
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="pwm">
|
||||
<define name="SERVO_HZ" value="400"/>
|
||||
<define name="USE_SERVOS_7AND8"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
|
||||
<subsystem name="telemetry" type="transparent"/>
|
||||
<subsystem name="imu" type="aspirin_v2.2"/>
|
||||
<!-- <subsystem name="imu" type="aspirin_v1.5"/> -->
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="stabilization" type="int_quat"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_quat">
|
||||
<module name="telemetry" type="transparent"/>
|
||||
<module name="imu" type="aspirin_v2.2"/>
|
||||
<!-- <module name="imu" type="aspirin_v1.5"/> -->
|
||||
<module name="gps" type="ublox"/>
|
||||
<module name="stabilization" type="int_quat"/>
|
||||
<module name="ahrs" type="int_cmpl_quat">
|
||||
<configure name="USE_MAGNETOMETER" value="0"/>
|
||||
<define name="AHRS_USE_GPS_HEADING" value="0"/>
|
||||
</subsystem>
|
||||
<subsystem name="ins"/>
|
||||
</module>
|
||||
<module name="ins"/>
|
||||
<!--define name="USE_INS_NAV_INIT"/-->
|
||||
<!--subsystem name="stabilization" type="int_euler"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_euler"/-->
|
||||
<!--module name="stabilization" type="int_euler"/>
|
||||
<module name="ahrs" type="int_cmpl_euler"/-->
|
||||
</firmware>
|
||||
</airframe>
|
||||
|
||||
@@ -180,38 +180,38 @@
|
||||
</section>
|
||||
|
||||
<modules main_freq="512">
|
||||
<load name="gps_ubx_ucenter.xml"/>
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
</modules>
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<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_KILL_SWITCH" value="RADIO_GEAR"/>
|
||||
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
</target>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<subsystem name="fdm" type="jsbsim"/>
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
<module name="radio_control" type="ppm"/>
|
||||
</target>
|
||||
|
||||
<subsystem name="motor_mixing"/>
|
||||
<subsystem name="actuators" type="pwm">
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="pwm">
|
||||
<define name="SERVO_HZ" value="400"/>
|
||||
<define name="USE_SERVOS_7AND8"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
|
||||
<subsystem name="telemetry" type="transparent"/>
|
||||
<subsystem name="imu" type="aspirin_v2.1"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="stabilization" type="int_quat"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_quat"/>
|
||||
<subsystem name="ins"/>
|
||||
<module name="telemetry" type="transparent"/>
|
||||
<module name="imu" type="aspirin_v2.1"/>
|
||||
<module name="gps" type="ublox"/>
|
||||
<module name="stabilization" type="int_quat"/>
|
||||
<module name="ahrs" type="int_cmpl_quat"/>
|
||||
<module name="ins"/>
|
||||
<!--define name="USE_INS_NAV_INIT"/-->
|
||||
<!--subsystem name="stabilization" type="int_euler"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_euler"/-->
|
||||
<!--module name="stabilization" type="int_euler"/>
|
||||
<module name="ahrs" type="int_cmpl_euler"/-->
|
||||
</firmware>
|
||||
|
||||
</airframe>
|
||||
|
||||
@@ -141,38 +141,38 @@
|
||||
</section>
|
||||
|
||||
<modules main_freq="512">
|
||||
<load name="gps_ubx_ucenter.xml"/>
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
</modules>
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<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_KILL_SWITCH" value="RADIO_GEAR"/>
|
||||
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
</target>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<subsystem name="fdm" type="jsbsim"/>
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
<module name="radio_control" type="ppm"/>
|
||||
</target>
|
||||
|
||||
<subsystem name="motor_mixing"/>
|
||||
<subsystem name="actuators" type="pwm">
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="pwm">
|
||||
<define name="SERVO_HZ" value="400"/>
|
||||
<define name="USE_SERVOS_7AND8"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
|
||||
<subsystem name="telemetry" type="transparent"/>
|
||||
<subsystem name="imu" type="aspirin_v1.0"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="stabilization" type="int_quat"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_quat"/>
|
||||
<subsystem name="ins"/>
|
||||
<module name="telemetry" type="transparent"/>
|
||||
<module name="imu" type="aspirin_v1.0"/>
|
||||
<module name="gps" type="ublox"/>
|
||||
<module name="stabilization" type="int_quat"/>
|
||||
<module name="ahrs" type="int_cmpl_quat"/>
|
||||
<module name="ins"/>
|
||||
<!--define name="USE_INS_NAV_INIT"/-->
|
||||
<!--subsystem name="stabilization" type="int_euler"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_euler"/-->
|
||||
<!--module name="stabilization" type="int_euler"/>
|
||||
<module name="ahrs" type="int_cmpl_euler"/-->
|
||||
</firmware>
|
||||
|
||||
</airframe>
|
||||
|
||||
@@ -144,43 +144,43 @@
|
||||
</section>
|
||||
|
||||
<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"/>
|
||||
</load>
|
||||
</module>
|
||||
</modules>
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<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_KILL_SWITCH" value="RADIO_GEAR"/>
|
||||
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
<configure name="LISA_M_BARO" value="BARO_MS5611_SPI"/>
|
||||
</target>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<subsystem name="fdm" type="jsbsim"/>
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
<module name="radio_control" type="ppm"/>
|
||||
</target>
|
||||
|
||||
<subsystem name="motor_mixing"/>
|
||||
<subsystem name="actuators" type="pwm">
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="pwm">
|
||||
<define name="SERVO_HZ" value="400"/>
|
||||
<define name="USE_SERVOS_7AND8"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
|
||||
<subsystem name="telemetry" type="transparent"/>
|
||||
<subsystem name="imu" type="aspirin_v2.1"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="stabilization" type="int_quat"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_quat"/>
|
||||
<subsystem name="ins"/>
|
||||
<module name="telemetry" type="transparent"/>
|
||||
<module name="imu" type="aspirin_v2.1"/>
|
||||
<module name="gps" type="ublox"/>
|
||||
<module name="stabilization" type="int_quat"/>
|
||||
<module name="ahrs" type="int_cmpl_quat"/>
|
||||
<module name="ins"/>
|
||||
<!--define name="USE_INS_NAV_INIT"/-->
|
||||
<!--subsystem name="stabilization" type="int_euler"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_euler"/-->
|
||||
<!--module name="stabilization" type="int_euler"/>
|
||||
<module name="ahrs" type="int_cmpl_euler"/-->
|
||||
</firmware>
|
||||
|
||||
</airframe>
|
||||
|
||||
@@ -141,40 +141,40 @@
|
||||
</section>
|
||||
|
||||
<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"/>
|
||||
</load>
|
||||
</module>
|
||||
</modules>
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<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"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
</target>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<subsystem name="fdm" type="jsbsim"/>
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
<module name="radio_control" type="ppm"/>
|
||||
</target>
|
||||
|
||||
<subsystem name="motor_mixing"/>
|
||||
<subsystem name="actuators" type="pwm">
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="pwm">
|
||||
<define name="SERVO_HZ" value="400"/>
|
||||
<define name="USE_SERVOS_7AND8"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
|
||||
<subsystem name="telemetry" type="transparent"/>
|
||||
<subsystem name="imu" type="aspirin_v2.1"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="stabilization" type="int_quat"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_quat"/>
|
||||
<subsystem name="ins"/>
|
||||
<module name="telemetry" type="transparent"/>
|
||||
<module name="imu" type="aspirin_v2.1"/>
|
||||
<module name="gps" type="ublox"/>
|
||||
<module name="stabilization" type="int_quat"/>
|
||||
<module name="ahrs" type="int_cmpl_quat"/>
|
||||
<module name="ins"/>
|
||||
<!--define name="USE_INS_NAV_INIT"/-->
|
||||
<!--subsystem name="stabilization" type="int_euler"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_euler"/-->
|
||||
<!--module name="stabilization" type="int_euler"/>
|
||||
<module name="ahrs" type="int_cmpl_euler"/-->
|
||||
</firmware>
|
||||
|
||||
</airframe>
|
||||
|
||||
@@ -144,40 +144,40 @@
|
||||
</section>
|
||||
|
||||
<modules main_freq="512">
|
||||
<load name="gps_ubx_ucenter.xml"/>
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
</modules>
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<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_KILL_SWITCH" value="RADIO_GEAR"/>
|
||||
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="0"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
|
||||
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
|
||||
</target>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<subsystem name="fdm" type="jsbsim"/>
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
<module name="radio_control" type="ppm"/>
|
||||
</target>
|
||||
|
||||
<subsystem name="motor_mixing"/>
|
||||
<subsystem name="actuators" type="pwm">
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="pwm">
|
||||
<define name="SERVO_HZ" value="400"/>
|
||||
<define name="USE_SERVOS_1AND2"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
|
||||
<subsystem name="telemetry" type="transparent"/>
|
||||
<subsystem name="imu" type="lisa_s_v1.0"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="stabilization" type="int_quat"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_quat"/>
|
||||
<subsystem name="ins"/>
|
||||
<module name="telemetry" type="transparent"/>
|
||||
<module name="imu" type="lisa_s_v1.0"/>
|
||||
<module name="gps" type="ublox"/>
|
||||
<module name="stabilization" type="int_quat"/>
|
||||
<module name="ahrs" type="int_cmpl_quat"/>
|
||||
<module name="ins"/>
|
||||
<!--define name="USE_INS_NAV_INIT"/-->
|
||||
<!--subsystem name="stabilization" type="euler"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_euler"/-->
|
||||
<!--module name="stabilization" type="euler"/>
|
||||
<module name="ahrs" type="int_cmpl_euler"/-->
|
||||
</firmware>
|
||||
|
||||
</airframe>
|
||||
|
||||
@@ -31,7 +31,7 @@
|
||||
<define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="30"/>
|
||||
</module>
|
||||
<module name="ins_extended"/>
|
||||
<module name="gps_ubx_ucenter"/>
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
<module name="sys_mon"/>
|
||||
|
||||
<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
|
||||
|
||||
@@ -80,7 +80,7 @@
|
||||
<module name="stabilization" type="int_quat"/>
|
||||
<module name="ahrs" type="int_cmpl_quat"/>
|
||||
<module name="ins"/>
|
||||
<module name="gps_ubx_ucenter"/>
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
<module name="send_imu_mag_current"/>
|
||||
<module name="geo_mag"/>
|
||||
</firmware>
|
||||
|
||||
@@ -45,11 +45,11 @@
|
||||
|
||||
<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_GENERIC2" value="ADC_2"/>
|
||||
</module>
|
||||
<module name="gps_ubx_ucenter"/>
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
<module name="geo_mag"/>
|
||||
<module name="sys_mon"/>
|
||||
<module name="air_data">
|
||||
|
||||
@@ -66,7 +66,7 @@
|
||||
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
|
||||
<define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
|
||||
</module>
|
||||
<module name="nav_line"/>
|
||||
<module name="nav" type="line"/>
|
||||
<module name="air_data"/>
|
||||
|
||||
<define name="AGR_CLIMB"/>
|
||||
|
||||
@@ -39,7 +39,7 @@
|
||||
<!--define name="AHRS_MAG_UPDATE_ALL_AXES" value="1"/-->
|
||||
</module>
|
||||
<module name="ins" type="hff"/>
|
||||
<module name="gps_ubx_ucenter"/>
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
<module name="geo_mag"/>
|
||||
<module name="air_data"/>
|
||||
|
||||
|
||||
@@ -38,15 +38,15 @@
|
||||
<module name="ahrs" type="int_cmpl_quat"/>
|
||||
<module name="ins" type="hff"/>
|
||||
|
||||
<module name="send_imu_mag_current.xml"/>
|
||||
<module name="adc_generic.xml">
|
||||
<module name="send_imu_mag_current"/>
|
||||
<module name="adc_generic">
|
||||
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
|
||||
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
|
||||
</module>
|
||||
<module name="gps_ubx_ucenter.xml"/>
|
||||
<module name="geo_mag.xml"/>
|
||||
<module name="air_data.xml"/>
|
||||
<module name="nav_survey_rectangle_rotorcraft.xml">
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
<module name="geo_mag"/>
|
||||
<module name="air_data"/>
|
||||
<module name="nav" type="survey_rectangle_rotorcraft">
|
||||
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
|
||||
</module>
|
||||
|
||||
|
||||
@@ -37,15 +37,15 @@
|
||||
<module name="ahrs" type="int_cmpl_quat"/>
|
||||
<module name="ins" type="hff"/>
|
||||
|
||||
<module name="send_imu_mag_current.xml"/>
|
||||
<module name="adc_generic.xml">
|
||||
<module name="send_imu_mag_current"/>
|
||||
<module name="adc_generic">
|
||||
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
|
||||
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
|
||||
</module>
|
||||
<module name="gps_ubx_ucenter.xml"/>
|
||||
<module name="geo_mag.xml"/>
|
||||
<module name="air_data.xml"/>
|
||||
<module name="nav_survey_rectangle_rotorcraft.xml">
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
<module name="geo_mag"/>
|
||||
<module name="air_data"/>
|
||||
<module name="nav" type="survey_rectangle_rotorcraft">
|
||||
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
|
||||
</module>
|
||||
|
||||
|
||||
@@ -38,15 +38,15 @@
|
||||
<module name="ahrs" type="int_cmpl_quat"/>
|
||||
<module name="ins" type="hff"/>
|
||||
|
||||
<module name="send_imu_mag_current.xml"/>
|
||||
<module name="adc_generic.xml">
|
||||
<module name="send_imu_mag_current"/>
|
||||
<module name="adc_generic">
|
||||
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
|
||||
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
|
||||
</module>
|
||||
<module name="gps_ubx_ucenter.xml"/>
|
||||
<module name="geo_mag.xml"/>
|
||||
<module name="air_data.xml"/>
|
||||
<module name="nav_survey_rectangle_rotorcraft.xml">
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
<module name="geo_mag"/>
|
||||
<module name="air_data"/>
|
||||
<module name="nav" type="survey_rectangle_rotorcraft">
|
||||
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
|
||||
</module>
|
||||
|
||||
|
||||
@@ -38,15 +38,15 @@
|
||||
<module name="ahrs" type="int_cmpl_quat"/>
|
||||
<module name="ins" type="hff"/>
|
||||
|
||||
<module name="send_imu_mag_current.xml"/>
|
||||
<module name="adc_generic.xml">
|
||||
<module name="send_imu_mag_current"/>
|
||||
<module name="adc_generic">
|
||||
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
|
||||
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
|
||||
</module>
|
||||
<module name="gps_ubx_ucenter.xml"/>
|
||||
<module name="geo_mag.xml"/>
|
||||
<module name="air_data.xml"/>
|
||||
<module name="nav_survey_rectangle_rotorcraft.xml">
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
<module name="geo_mag"/>
|
||||
<module name="air_data"/>
|
||||
<module name="nav" type="survey_rectangle_rotorcraft">
|
||||
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
|
||||
</module>
|
||||
|
||||
|
||||
@@ -36,11 +36,11 @@
|
||||
<module name="ahrs" type="int_cmpl_quat"/>
|
||||
<module name="ins" type="hff"/>
|
||||
|
||||
<module name="send_imu_mag_current.xml"/>
|
||||
<module name="gps_ubx_ucenter.xml"/>
|
||||
<module name="geo_mag.xml"/>
|
||||
<module name="air_data.xml"/>
|
||||
<module name="nav_survey_rectangle_rotorcraft.xml">
|
||||
<module name="send_imu_mag_current"/>
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
<module name="geo_mag"/>
|
||||
<module name="air_data"/>
|
||||
<module name="nav" type="survey_rectangle_rotorcraft">
|
||||
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
|
||||
</module>
|
||||
|
||||
|
||||
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Reference in New Issue
Block a user