Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-09 22:49:53 +08:00
Code Issues Actions 27 Packages Projects Releases Wiki Activity

*** empty log message ***

Browse Source
This commit is contained in:
OSAM-UAV Team
2008-09-12 22:15:00 +00:00
parent 8b8d5d3a99
commit b0fafaf87c
1 changed files with 86 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/OSAM_IMU/readme_pprz_osam_imu.txt
+86
View File
@@ -0,0 +1,86 @@
/*****************************************************************************************************
Readme for modified pprz directory for using with gumstix + IMU for fixed wing UAVs
Author: Haiyang Chao
Configuration files in 5 are generated by Daniel Morgan & Haiyang Chao.
*****************************************************************************************************/
1. Brief
This file is to explain what we have done to make the pprz compatible with IMU (xsens-mtig and microstrain-gx2).
Haiyang Chao on 20080912 for version 1
2. New Airborne files added
~/paparazzi3/sw/airborne/osam_imu_ugear.h
~/paparazzi3/sw/airborne/osam_imu_ugear.c
3. Airborne Files modified (all modifications we made are triggered only if UGEAR is defined)
~/paparazzi3/sw/airborne/main_ap.c
-----Line 122------------------------
#ifdef UGEAR
#include "osam_imu_ugear.h"
#endif
#ifdef XSENS
#include "xsens_ins.h"
#endif
-----Line 733------------------------
#ifdef UGEAR
if (UgearBuffer()){
ReadUgearBuffer();
}
if (ugear_msg_received){
parse_ugear_msg();
ugear_msg_received = FALSE;
if (gps_pos_available){
gps_downlink();
gps_verbose_downlink = !launch;
UseGpsPos(estimator_update_state_gps);
gps_pos_available = FALSE;
}
}
#endif /* UGEAR*/
-----------------------------
~/paparazzi3/sw/airborne/ap_downlink.h
-----Line 165------------------------
#if defined UGEAR
#define PERIODIC_SEND_GPS() DOWNLINK_SEND_GPS(&gps_mode, &gps_utm_east, &gps_utm_north, &gps_course, &gps_alt, &gps_gspeed,&gps_climb, &gps_itow, &gps_utm_zone, &gps_nb_ovrn)
#define PERIODIC_SEND_GPS_SOL() DOWNLINK_SEND_GPS_SOL(&gps_Pacc, &gps_Sacc, &gps_PDOP, &gps_numSV)
#define PERIODIC_SEND_DebugChao() DOWNLINK_SEND_DebugChao(&ugear_debug1, &ugear_debug2, &ugear_debug3, &ugear_debug4, &ugear_debug5, &ugear_debug6)
#endif
-----------------------------
~/paparazzi3/sw/airborne/gps.h
-----Line 42------------------------
#elif defined UGEAR
#define GPS_NB_CHANNELS 16
-----------------------------
~/paparazzi3/sw/airborne/infrared.c
-----Line 42------------------------
#ifdef UGEAR
#include "osam_imu_ugear.h"
#endif
-----Line 239------------------------
#if defined UGEAR
#if !(defined IMUIR)
ugear_debug3 = 333;
estimator_phi = (float)ugear_phi/10000 - ir_roll_neutral;
estimator_theta = (float)ugear_theta/10000 - ir_pitch_neutral;
#endif
#endif
-----------------------------
4. Configuration files changed
~/paparazzi3/conf/message.xml
-----Line 31------------------------
<message name="DebugChao" ID="5">
<field name="int16_1" type="int16" unit="deg"></field>
<field name="int16_2" type="int16" unit="deg"></field>
<field name="int16_3" type="int16" unit="deg"></field>
<field name="int32_1" type="int32" unit="deg"></field>
<field name="int32_2" type="int32" unit="deg"></field>
<field name="int32_3" type="int32" unit="deg"></field>
</message>
-----------------------------
5. New configuration files added
~/paparazzi3/conf/telemetry/osam_imu.xml
~/paparazzi3/conf/flight_plans/xsens_cachejunction.xml
~/paparazzi3/conf/airframes/osam_xsens_twog.xml