Merge branch 'master' of github.com:paparazzi/paparazzi into stm_i2c

.gitignore

@@ -1,3 +1,6 @@
+# ignore html dir for github pages
+/doc/html
+
 *.so
 *.[oa]
 *.out
@@ -17,6 +20,13 @@
 
 *.aux
 
+# Eclipse IDE project files
+*.cproject
+*.project
+*.externalToolBuilders
+/build.properties
+/META-INF
+
 # Debian related files
 *.deb
 *.dsc

README

@@ -39,8 +39,6 @@ conf: the configuration directory (airframe, radio, ... descriptions).
 
 data: where to put read-only data (e.g. maps, terrain elevation files, icons)
 
-hw: hardware (electronic schemas, PCBs, ...)
-
 sw: software (onboard, ground station, simulation, ...)
 
 var: products of compilation, cache for the map tiles, ...

conf/Makefile.stm32

@@ -118,7 +118,7 @@ endif
 MULTILIB = $(shell if $(CC) --print-multi-lib | grep thumb2 > /dev/null ; then echo "yes"; else echo "no"; fi)
 
 CFLAGS = -I. -I./$(ARCH) $(INCLUDES) -D__thumb2__ -Wall -msoft-float -O$(OPT)
-CFLAGS += -Wl,gc-sections
+CFLAGS += -Wl,--gc-sections
 CFLAGS += -mcpu=$(MCU) -mthumb -ansi
 ifeq ("$(MULTILIB)","yes")
 CFLAGS += -mfix-cortex-m3-ldrd
@@ -149,9 +149,9 @@ endif
 AFLAGS += -x assembler-with-cpp -Wa,-adhlns=$(OBJDIR)/$(<:.S=.lst),--g$(DEBUG)
 
 ifeq ("$(MULTILIB)","yes")
-LDFLAGS = -T$(LDSCRIPT) -nostartfiles -O$(OPT) --gc-sections -mthumb -march=armv7 -mfix-cortex-m3-ldrd -msoft-float
+LDFLAGS = -T$(LDSCRIPT) -nostartfiles -O$(OPT) -mthumb -march=armv7 -mfix-cortex-m3-ldrd -msoft-float
 else
-LDFLAGS = -D__thumb2__ -T$(LDSCRIPT) -nostartfiles  -L$(GCC_LIB_DIR) -O$(OPT) --gc-sections
+LDFLAGS = -D__thumb2__ -T$(LDSCRIPT) -nostartfiles  -L$(GCC_LIB_DIR) -O$(OPT)
 endif
 LDFLAGS += -Wl,-Map=$(OBJDIR)/$(TARGET).map,--cref,--gc-sections
 LDLIBS  += -lc -lm -lgcc -lcmsis -lstm32 -l$(LIBOPENCM3_LIB)

conf/airframes/CDW/ChimuJTinyFwSpi.xml

@@ -0,0 +1,195 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<!--
+	YAPA + XSens + XBee
+-->
+
+<airframe name="Yapa v1">
+
+  <servos>
+    <servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
+    <servo name="AILERON_LEFT" no="1" min="1000" neutral="1500" max="2000"/>
+    <servo name="AILERON_RIGHT" no="2" min="2000" neutral="1500" max="1000"/>
+    <servo name="ELEVATOR" no="3" min="2000" neutral="1500" max="1000"/>
+    <servo name="RUDDER" no="4" min="1100" neutral="1500" max="1900"/>
+  </servos>
+
+  <commands>
+    <axis name="THROTTLE" failsafe_value="0"/>
+    <axis name="ROLL" failsafe_value="0"/>
+    <axis name="PITCH" failsafe_value="0"/>
+    <axis name="BRAKE" failsafe_value="0"/>	<!-- both elerons up as butterfly brake ? -->
+  </commands>
+
+  <rc_commands>
+    <set command="THROTTLE" value="@THROTTLE"/>
+    <set command="ROLL" value="@ROLL"/>
+    <set command="PITCH" value="@PITCH"/>
+    <set command="BRAKE" value="@YAW"/>
+  </rc_commands>
+
+  <section name="SERVO_MIXER_GAINS">
+    <define name="AILERON_RATE_UP" value="0.50f"/>
+    <define name="AILERON_RATE_DOWN" value="0.25f"/>
+
+    <define name="AILERON_RATE_UP_BRAKE" value="0.5f"/>
+    <define name="AILERON_RATE_DOWN_BRAKE" value="0.9f"/>
+
+    <define name="PITCH_GAIN" value="0.9f"/>
+
+    <define name="YAW_THRUST" value="0.0f"/>
+    <define name="BRAKE_AILEVON" value="-0.68f"/>
+    <define name="BRAKE_PITCH" value="0.0f"/>
+    <define name="MAX_BRAKE_RATE" value="150"/>
+
+    <define name="LIMIT(X,XL,XH)" value="(    ((X)>(XH))   ?    (XH)    :    ( ((X)>(XL)) ? (X) : (XL) )    )"/>
+  </section>
+
+  <command_laws>
+    <!-- Differential Aileron Depending on Brake Value -->
+    <set servo="AILERON_LEFT" value="@ROLL"/>
+    <set servo="AILERON_RIGHT" value="@ROLL"/>
+
+    <!-- Differential Thurst -->
+    <set servo="THROTTLE" value="@THROTTLE"/>
+
+    <!-- Pitch with Brake-Trim Function -->
+    <set servo="ELEVATOR" value="@PITCH"/>
+  </command_laws>
+
+  <section name="INS" prefix="INS_">
+    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+  </section>
+
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="0.7"/>
+    <define name="MAX_PITCH" value="0.7"/>
+  </section>
+
+  <section name="BAT">
+    <define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/>
+
+    <define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
+    <define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
+  </section>
+
+  <section name="MISC">
+    <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
+    <define name="CARROT" value="5." unit="s"/>
+    <define name="CONTROL_RATE" value="60" unit="Hz"/>
+    <define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
+<!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
+    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
+
+    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
+
+    <define name="GLIDE_AIRSPEED" value="10"/>
+    <define name="GLIDE_VSPEED" value="3."/>
+    <define name="GLIDE_PITCH" value="45" unit="deg"/>
+  </section>
+
+  <section name="VERTICAL CONTROL" prefix="V_CTL_">
+    <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
+    <!-- outer loop proportional gain -->
+    <define name="ALTITUDE_PGAIN" value="-0.03"/>
+    <!-- outer loop saturation -->
+    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+    <!-- auto throttle inner loop -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
+    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
+    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
+    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
+
+    <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
+  </section>
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="-1.20000004768"/>
+    <define name="COURSE_DGAIN" value="0.3"/>
+    <define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
+
+    <define name="ROLL_MAX_SETPOINT" value="0.9" unit="radians"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+
+    <define name="PITCH_PGAIN" value="-12000."/>
+    <define name="PITCH_DGAIN" value="0"/>
+
+    <define name="ELEVATOR_OF_ROLL" value="1000."/>
+
+    <define name="ROLL_ATTITUDE_GAIN" value="-11500"/>
+    <define name="ROLL_RATE_GAIN" value="-600."/>
+  </section>
+
+  <section name="AGGRESSIVE" prefix="AGR_">
+    <define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
+    <define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
+    <define name="CLIMB_THROTTLE" value="1.00"/><!-- Gaz for Aggressive Climb -->
+    <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
+    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
+    <define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive Decent -->
+    <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
+    <define name="DESCENT_NAV_RATIO" value="1.0"/>
+  </section>
+
+  <section name="FAILSAFE" prefix="FAILSAFE_">
+    <define name="DEFAULT_THROTTLE" value="0.35" unit="%"/>
+    <define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
+    <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
+
+    <define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
+    <define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
+    <define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
+  </section>
+
+  <section name="DIGITAL_CAMERA" prefix="DC_">
+    <define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
+    <define name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/>
+  </section>
+
+
+  <modules>
+    <load name="ins_chimu_spi.xml" >
+<!--			<define name="CHIMU_BIG_ENDIAN" />  -->
+		</load>
+
+  </modules>
+
+  <firmware name="fixedwing">
+    <target name="ap" board="tiny_2.11">
+      <define name="STRONG_WIND"/>
+      <define name="WIND_INFO"/>
+      <define name="WIND_INFO_RET"/>
+      <define name="LOITER_TRIM"/>
+      <define name="ALT_KALMAN"/>
+			<!--      <define name="NB_CHANNELS" value="5" />  -->
+    </target>
+    <target name="sim" board="pc"/>
+
+    <subsystem name="radio_control" type="ppm"/>
+    <subsystem name="gps" type="ublox" />
+
+    <!-- Communication -->
+    <subsystem name="telemetry" type="xbee_api">
+      <configure name="MODEM_BAUD" value="B9600"/>
+    </subsystem>
+
+    <!-- Actuators -->
+    <subsystem name="control"/>
+    <!-- Sensors -->
+    <subsystem name="navigation"/>
+<!--    <subsystem name="gps"    type="ublox"/> -->
+
+    <subsystem name="spi_slave_hs"/>
+
+  </firmware>
+
+</airframe>

conf/airframes/CDW/debug_i2c.xml

@@ -74,9 +74,7 @@
  </section>
 
  <section name="BAT">
-   <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-   <define name="BATTERY_SENS"   value="0.48" integer="16"/>
  </section>
 
 
@@ -164,7 +162,6 @@
 
   <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="10." integer="16"/>
-    <define name="UNTILT_ACCEL" value="1"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">

conf/airframes/ENAC/quadrotor/blender.xml

@@ -228,7 +228,6 @@
  </section>
 
  <section name="BAT">
-   <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
    <define name="VoltageOfAdc(adc)" value="(0.025*adc)"/>
  </section>

conf/airframes/ENAC/quadrotor/booz2_g1.xml

@@ -158,7 +158,6 @@
 
   <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="15." integer="16"/>
-    <define name="UNTILT_ACCEL" value="1"/>
     <define name="SONAR_SENS" value="2.146" integer="16"/>
   </section>
 
@@ -193,9 +192,7 @@
   </section>
 
   <section name="BAT">
-    <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-    <define name="BATTERY_SENS"   value="0.183" integer="16"/>
   </section>
 
   <section name="AUTOPILOT">

conf/airframes/ENAC/quadrotor/g1_vision.xml

@@ -131,7 +131,6 @@
 
   <section name="INS" prefix="BOOZ_INS_">
     <define name="BARO_SENS" value="15." integer="16"/>
-    <define name="UNTILT_ACCEL" value="1"/>
     <define name="SONAR_SENS" value="2.146" integer="16"/>
   </section>
 
@@ -174,9 +173,7 @@
  </section>
 
  <section name="BAT">
-   <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-   <define name="BATTERY_SENS"   value="0.183" integer="16"/>
  </section>
 
  <section name="AUTOPILOT">

conf/airframes/ENAC/quadrotor/mkk1-vision.xml

@@ -164,7 +164,6 @@
 
   <section name="INS" prefix="BOOZ_INS_">
     <define name="BARO_SENS" value="15." integer="16"/>
-    <define name="UNTILT_ACCEL" value="1"/>
     <!--define name="SONAR_SENS" value="2.146" integer="16"/-->
     <define name="SONAR_SENS" value="3." integer="16"/>
   </section>
@@ -207,9 +206,7 @@
  </section>
 
  <section name="BAT">
-   <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9." unit="V"/>
-   <define name="BATTERY_SENS"   value="0.183" integer="16"/>
  </section>
 
  <section name="AUTOPILOT">

conf/airframes/ENAC/quadrotor/mkk1.xml

@@ -194,7 +194,6 @@
 
   <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="15." integer="16"/>
-    <define name="UNTILT_ACCEL" value="1"/>
   </section>
 
   <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
@@ -227,9 +226,7 @@
  </section>
 
  <section name="BAT">
-   <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9." unit="V"/>
-   <define name="BATTERY_SENS"   value="0.183" integer="16"/>
  </section>
 
  <section name="AUTOPILOT">

conf/airframes/ENAC/quadrotor/nova1.xml

@@ -165,7 +165,6 @@
 
   <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="15." integer="16"/>
-    <define name="UNTILT_ACCEL" value="1"/>
   </section>
 
   <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
@@ -198,9 +197,7 @@
  </section>
 
  <section name="BAT">
-   <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9." unit="V"/>
-   <define name="BATTERY_SENS"   value="0.183" integer="16"/>
  </section>
 
  <section name="AUTOPILOT">

conf/airframes/NoVa_L.xml

@@ -102,9 +102,7 @@
  </section>
 
  <section name="BAT">
-   <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-   <define name="BATTERY_SENS"   value="0.48" integer="16"/>
  </section>
 
 
@@ -192,7 +190,6 @@
 
   <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="10." integer="16"/>
-    <define name="UNTILT_ACCEL" value="1"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">

conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml

@@ -178,9 +178,7 @@
 
 
  <section name="BAT">
-   <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-   <define name="BATTERY_SENS"   value="0.18" integer="16"/>
  </section>
 
 

conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml

@@ -196,9 +196,7 @@
 
 
  <section name="BAT">
-   <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-   <define name="BATTERY_SENS"   value="0.18" integer="16"/>
  </section>
 
 

conf/airframes/Poine/booz2_a1.xml

@@ -169,9 +169,7 @@
  </section>
 
  <section name="BAT">
-   <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-   <define name="BATTERY_SENS"   value="0.48" integer="16"/>
  </section>
 
  <section name="AUTOPILOT">

conf/airframes/Poine/booz2_a1p.xml

@@ -173,9 +173,7 @@
  </section>
 
  <section name="BAT">
-   <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-   <define name="BATTERY_SENS"   value="0.48" integer="16"/>
  </section>
 
  <section name="AUTOPILOT">

conf/airframes/Poine/booz2_a7.xml

@@ -74,9 +74,7 @@
  </section>
 
  <section name="BAT">
-   <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-   <define name="BATTERY_SENS"   value="0.48" integer="16"/>
  </section>
 
 
@@ -164,7 +162,6 @@
 
   <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="10." integer="16"/>
-    <define name="UNTILT_ACCEL" value="1"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">

conf/airframes/Poine/booz2_a8.xml

@@ -182,9 +182,7 @@
 
 
  <section name="BAT">
-   <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-   <define name="BATTERY_SENS"   value="0.48" integer="16"/>
  </section>
 
 

conf/airframes/Poine/easy_glider1.xml

@@ -76,7 +76,6 @@
 
   <section name="BAT">
     <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
-   <!--define name="MILLIAMP_PER_PERCENT" value="0.86"/-->
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
   </section>
 

conf/airframes/Poine/h_hex.xml

@@ -76,9 +76,7 @@
  </section>
 
  <section name="BAT">
-   <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-   <define name="BATTERY_SENS"   value="0.48" integer="16"/>
  </section>
 
 
@@ -183,7 +181,7 @@
     </target>
     <subsystem name="telemetry"     type="transparent"/>
 <!--    <subsystem name="imu"           type="b2_v1.1"/> -->
-    <subsystem name="imu"           type="aspirin"/>
+    <subsystem name="imu"           type="aspirin_v1.0"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
     <subsystem name="ahrs"          type="int_cmpl_euler"/>

conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_fw.xml

@@ -0,0 +1,2 @@
+<airframe name="TestConfig">
+</airframe>

conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_rc.xml

@@ -0,0 +1,2 @@
+<airframe name="TestConfig">
+</airframe>

conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_fw.xml

@@ -0,0 +1,2 @@
+<airframe name="TestConfig">
+</airframe>

conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml

@@ -0,0 +1,2 @@
+<airframe name="TestConfig">
+</airframe>

conf/airframes/TestHardware/LisaM_1.0_aspirin_v1.5_fw.xml

@@ -0,0 +1,2 @@
+<airframe name="TestConfig">
+</airframe>

conf/airframes/TestHardware/LisaM_1.0_aspirin_v1.5_rc.xml

@@ -0,0 +1,2 @@
+<airframe name="TestConfig">
+</airframe>

conf/airframes/TestHardware/Tiny_2.11_fw.xml

@@ -0,0 +1,2 @@
+<airframe name="TestConfig">
+</airframe>

conf/airframes/UofAdelaide/A1000_BOOZ.xml

@@ -242,9 +242,7 @@ second attempt
  </section>
 
  <section name="BAT">
-   <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-   <define name="BATTERY_SENS" value="0.25" integer="16"/>
  </section>
 
  <section name="AUTOPILOT">

conf/airframes/UofAdelaide/A1000_LISA.xml

@@ -74,9 +74,7 @@
  </section>
 
  <section name="BAT">
-   <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-   <define name="BATTERY_SENS"   value="0.48" integer="16"/>
  </section>
 
 

conf/airframes/UofAdelaide/A1000_NOVA.xml

@@ -204,10 +204,7 @@
  </section>
 
  <section name="BAT">
-   <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.0" unit="V"/>
-   <define name="BATTERY_SENS"   value="0.18" integer="16"/>
-<!--   <define name="BATTERY_SENS"   value="1" integer="16"/>-->
  </section>
 
  <section name="AUTOPILOT">

conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml

@@ -204,10 +204,7 @@
  </section>
 
  <section name="BAT">
-   <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.0" unit="V"/>
-   <define name="BATTERY_SENS"   value="0.18" integer="16"/>
-<!--   <define name="BATTERY_SENS"   value="1" integer="16"/>-->
  </section>
 
  <section name="AUTOPILOT">

conf/airframes/UofAdelaide/booz2_a1000.xml

@@ -244,9 +244,7 @@ second attempt
  </section>
 
  <section name="BAT">
-   <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-   <define name="BATTERY_SENS" value="0.25" integer="16"/>
  </section>
 
  <section name="AUTOPILOT">

conf/airframes/UofAdelaide/lisa_a1000.xml

@@ -71,9 +71,7 @@
  </section>
 
  <section name="BAT">
-   <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-   <define name="BATTERY_SENS"   value="0.48" integer="16"/>
  </section>
 
 

conf/airframes/booz2_flixr.xml

@@ -212,7 +212,6 @@
   </section>
 
   <section name="BAT">
-    <define name="MILLIAMP_PER_PERCENT" value="0.86" />
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V" />
     <define name="MAX_BAT_LEVEL" value="12.0" unit="V" />
     <define name="VoltageOfAdc(adc)" value="(0.0246*adc)"/>

conf/airframes/booz2_ppzuav.xml

@@ -179,10 +179,7 @@
  </section>
 
  <section name="BAT">
-   <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="6.4" unit="V"/>
-   <define name="BATTERY_SENS"   value="0.18" integer="16"/>
-<!--   <define name="BATTERY_SENS"   value="1" integer="16"/>-->
  </section>
 
  <section name="AUTOPILOT">

conf/airframes/easy_glider_example.xml

@@ -69,7 +69,6 @@
 
   <section name="BAT">
     <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
-   <!--define name="MILLIAMP_PER_PERCENT" value="0.86"/-->
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
   </section>
 

conf/airframes/esden/jt_lisam.xml

@@ -65,9 +65,7 @@
  </section>
 
  <section name="BAT">
-   <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-   <define name="BATTERY_SENS"   value="0.48" integer="16"/>
  </section>
 
 
@@ -196,7 +194,7 @@
       <subsystem name="actuators"     type="mkk"/>
     </target>
 
-    <subsystem name="imu"           type="aspirin"/>
+    <subsystem name="imu"           type="aspirin_v1.0"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="ahrs"          type="int_cmpl_quat"/>
     <subsystem name="stabilization" type="quaternion"/>

conf/airframes/esden/lisa_asctec.xml

@@ -81,9 +81,7 @@
  </section>
 
  <section name="BAT">
-   <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-   <define name="BATTERY_SENS"   value="0.48" integer="16"/>
  </section>
 
 

conf/airframes/esden/lisa_asctec_aspirin.xml

@@ -81,9 +81,7 @@
  </section>
 
  <section name="BAT">
-   <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-   <define name="BATTERY_SENS"   value="0.48" integer="16"/>
  </section>
 
 
@@ -202,7 +200,7 @@
       <subsystem name="actuators"     type="mkk"/>
     </target>
 
-    <subsystem name="imu"           type="aspirin"/>
+    <subsystem name="imu"           type="aspirin_v1.0"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
     <subsystem name="ahrs"          type="int_cmpl_euler"/>

conf/airframes/esden/lisa_m_pwm.xml

@@ -95,9 +95,7 @@
  </section>
 
  <section name="BAT">
-   <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-   <define name="BATTERY_SENS"   value="0.48" integer="16"/>
  </section>
 
 
@@ -223,7 +221,7 @@
       <subsystem name="actuators"     type="mkk"/>
     </target>
 
-    <subsystem name="imu"           type="aspirin"/>
+    <subsystem name="imu"           type="aspirin_v1.0"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
     <subsystem name="ahrs"          type="int_cmpl_quat"/>

conf/airframes/esden/lisa_pwm_aspirin.xml

@@ -69,9 +69,7 @@
  </section>
 
  <section name="BAT">
-   <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-   <define name="BATTERY_SENS"   value="0.48" integer="16"/>
  </section>
 
 
@@ -200,7 +198,7 @@
       <subsystem name="actuators"     type="mkk"/>
     </target>
 
-    <subsystem name="imu"           type="aspirin"/>
+    <subsystem name="imu"           type="aspirin_v1.0"/>
     <subsystem name="gps"           type="ublox">
 	    <configure name="GPS_BAUD"    value="B57600"/>
     </subsystem>

conf/airframes/esden/synerani_4B.xml

@@ -72,9 +72,7 @@
  </section>
 
  <section name="BAT">
-   <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-   <define name="BATTERY_SENS"   value="0.48" integer="16"/>
  </section>
 
 
@@ -203,7 +201,7 @@
       <subsystem name="actuators"     type="mkk"/>
     </target>
 
-    <subsystem name="imu"           type="aspirin"/>
+    <subsystem name="imu"           type="aspirin_v1.0"/>
     <subsystem name="gps"           type="ublox">
 	    <configure name="GPS_BAUD"    value="B57600"/>
     </subsystem>

conf/airframes/mm/extra/rctx.xml

@@ -12,7 +12,6 @@
   </section>
 
   <section name="BAT">
-    <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
                                         <!-- 0.0247311828 -->
                                         <!-- 0.02432905 -->

conf/airframes/mm/fixed-wing/funjetgfi3.xml

@@ -79,7 +79,6 @@
   </section>
 
   <section name="BAT">
-    <define name="MILLIAMP_PER_PERCENT" value="5.45"/>
     <define name="ADC_CHANNEL_VSUPPLY"  value="AdcBank1(6)"/>
     <define name="VoltageOfAdc(adc)" value="(0.01787109375*adc)"/>
     <define name="LOW_BATTERY" value="9.0" unit="V"/>

conf/airframes/mm/fixed-wing/funjetgfi4.xml

@@ -78,7 +78,6 @@
   </section>
 
   <section name="BAT">
-    <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
                                         <!-- 0.0247311828 -->
                                         <!-- 0.02432905 -->

conf/airframes/mm/hangar/black_one.xml

@@ -103,7 +103,6 @@
   </section>
 
   <section name="BAT">
-    <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
     <define name="VOLTAGE_ADC_A" value="0.0174"/>
     <define name="VOLTAGE_ADC_B" value="3.43"/>
     <define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>

conf/airframes/mm/hangar/glass_one1.xml

@@ -91,7 +91,6 @@
   </section>
 
   <section name="BAT">
-    <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
     <define name="ADC_CHANNEL_VSUPPLY"  value="AdcBank1(6)"/>
     <define name="VoltageOfAdc(adc)" value="(0.01787109375*adc)"/>
     <define name="LOW_BATTERY" value="9.0" unit="V"/>

conf/airframes/mm/hangar/glass_one2.xml

@@ -74,7 +74,6 @@
   </section>
 
   <section name="BAT">
-    <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
     <define name="VOLTAGE_ADC_A" value="0.0174"/>
     <define name="VOLTAGE_ADC_B" value="3.43"/>
     <define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>

conf/airframes/mm/hangar/glass_one3.xml

@@ -92,7 +92,6 @@
   </section>
 
   <section name="BAT">
-    <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
     <define name="ADC_CHANNEL_VSUPPLY"  value="AdcBank1(6)"/>
     <define name="VoltageOfAdc(adc)" value="(0.01787109375*adc)"/>
     <define name="LOW_BATTERY" value="9.0" unit="V"/>