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Merge pull request #2890 from paparazzi/multi_imu

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[imu] Multi IMU support
This commit is contained in:
Gautier Hattenberger
2022-09-26 16:30:55 +02:00
committed by GitHub
parent b991dcc8c2 3e473e72a6
commit b8647d7d7f
326 changed files with 3014 additions and 2781 deletions
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conf/abi.xml
+32 -7
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@@ -22,17 +22,17 @@
<field name="temp" type="float" unit="deg Celcius"/>
</message>
<message name="IMU_GYRO_INT32" id="4">
<message name="IMU_GYRO" id="4">
<field name="stamp" type="uint32_t" unit="us"/>
<field name="gyro" type="struct Int32Rates *"/>
</message>
<message name="IMU_ACCEL_INT32" id="5">
<message name="IMU_ACCEL" id="5">
<field name="stamp" type="uint32_t" unit="us"/>
<field name="accel" type="struct Int32Vect3 *"/>
</message>
<message name="IMU_MAG_INT32" id="6">
<message name="IMU_MAG" id="6">
<field name="stamp" type="uint32_t" unit="us"/>
<field name="mag" type="struct Int32Vect3 *"/>
</message>
@@ -44,10 +44,6 @@
<field name="mag" type="struct Int32Vect3 *"/>
</message>
<message name="BODY_TO_IMU_QUAT" id="8">
<field name="q_b2i_f" type="struct FloatQuat *"/>
</message>
<message name="GEO_MAG" id="9">
<field name="h" type="struct FloatVect3 *" unit="1.0"/>
</message>
@@ -215,6 +211,35 @@
<field name="rc" type="struct RadioControl *">Pointer to a radio control structure</field>
</message>
<message name="IMU_GYRO_RAW" id="31">
<field name="stamp" type="uint32_t" unit="us"/>
<field name="gyro" type="struct Int32Rates *"/>
<field name="samples" type="uint8_t"/>
</message>
<message name="IMU_ACCEL_RAW" id="32">
<field name="stamp" type="uint32_t" unit="us"/>
<field name="accel" type="struct Int32Vect3 *"/>
<field name="samples" type="uint8_t"/>
</message>
<message name="IMU_MAG_RAW" id="33">
<field name="stamp" type="uint32_t" unit="us"/>
<field name="mag" type="struct Int32Vect3 *"/>
</message>
<message name="IMU_GYRO_INT" id="34">
<field name="stamp" type="uint32_t" unit="us"/>
<field name="delta_gyro" type="struct FloatRates *"/>
<field name="dt" type="uint16_t" unit="us"/>
</message>
<message name="IMU_ACCEL_INT" id="35">
<field name="stamp" type="uint32_t" unit="us"/>
<field name="delta_accel" type="struct FloatVect3 *"/>
<field name="dt" type="uint16_t" unit="us"/>
</message>
</msg_class>
</protocol>
conf/airframes/AGGIEAIR/aggieair_ark_hexa_1-8.xml
-1
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@@ -248,7 +248,6 @@ Aggie Air ARK
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="f_motor, fr_motor, br_motor, b_motor, bl_motor, fl_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="AGGIEAIR/aggieair_ark_hexa" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<define name="JS_AXIS_THROTTLE" value="0"/>
<define name="JS_AXIS_THROTTLE_REVERSED" value="1"/>
conf/airframes/AGGIEAIR/aggieair_ark_quad_lisa_mx.xml
-1
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@@ -200,7 +200,6 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
<define name="JS_AXIS_THROTTLE" value="0"/>
<define name="JS_AXIS_THROTTLE_REVERSED" value="1"/>
conf/airframes/AGGIEAIR/aggieair_atomic_lia.xml
-1
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@@ -288,7 +288,6 @@ AggieAir Atomic Tangerine
<section name="SIMULATOR" prefix="NPS_">
<define name="JSBSIM_LAUNCHSPEED" value="25"/>
<define name="JSBSIM_MODEL" value="AGGIEAIR/minion" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<define name="JS_AXIS_THROTTLE" value="0"/>
<define name="JS_AXIS_THROTTLE_REVERSED" value="1"/>
conf/airframes/AGGIEAIR/aggieair_blujay.xml
-1
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@@ -257,7 +257,6 @@ AggieAir Blujayujay
<section name="SIMULATOR" prefix="NPS_">
<define name="JSBSIM_LAUNCHSPEED" value="25"/>
<define name="JSBSIM_MODEL" value="AGGIEAIR/minion" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<define name="JS_AXIS_THROTTLE" value="0"/>
<define name="JS_AXIS_THROTTLE_REVERSED" value="1"/>
conf/airframes/AGGIEAIR/aggieair_blujay_goose.xml
-1
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@@ -262,7 +262,6 @@ AggieAir Blujayujay
<section name="SIMULATOR" prefix="NPS_">
<define name="JSBSIM_LAUNCHSPEED" value="25"/>
<define name="JSBSIM_MODEL" value="AGGIEAIR/minion" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<define name="JS_AXIS_THROTTLE" value="0"/>
<define name="JS_AXIS_THROTTLE_REVERSED" value="1"/>
conf/airframes/AGGIEAIR/aggieair_el_captitan_lia.xml
-1
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@@ -287,7 +287,6 @@ AggieAir El Capitan
<section name="SIMULATOR" prefix="NPS_">
<define name="JSBSIM_LAUNCHSPEED" value="25"/>
<define name="JSBSIM_MODEL" value="AGGIEAIR/minion" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<define name="JS_AXIS_THROTTLE" value="0"/>
<define name="JS_AXIS_THROTTLE_REVERSED" value="1"/>
conf/airframes/AGGIEAIR/aggieair_iris_indi.xml
-1
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@@ -368,7 +368,6 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]" />
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string" />
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string" />
</section>
<section name="AUTOPILOT">
conf/airframes/AGGIEAIR/aggieair_minion_rp3_lia.xml
-1
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@@ -279,7 +279,6 @@ AggieAir RP3 Minion
<section name="SIMULATOR" prefix="NPS_">
<define name="JSBSIM_LAUNCHSPEED" value="25"/>
<define name="JSBSIM_MODEL" value="AGGIEAIR/minion" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<define name="JS_AXIS_THROTTLE" value="0"/>
<define name="JS_AXIS_THROTTLE_REVERSED" value="1"/>
conf/airframes/AGGIEAIR/aggieair_minionsim_lia.xml
-1
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@@ -291,7 +291,6 @@ AggieAir Minion Sim
<section name="SIMULATOR" prefix="NPS_">
<define name="JSBSIM_LAUNCHSPEED" value="25"/>
<define name="JSBSIM_MODEL" value="AGGIEAIR/minion" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<define name="JS_AXIS_THROTTLE" value="0"/>
<define name="JS_AXIS_THROTTLE_REVERSED" value="1"/>
conf/airframes/AGGIEAIR/aggieair_minty_lia.xml
-1
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@@ -287,7 +287,6 @@ AggieAir Minty Fresh
<section name="SIMULATOR" prefix="NPS_">
<define name="JSBSIM_LAUNCHSPEED" value="25"/>
<define name="JSBSIM_MODEL" value="AGGIEAIR/minion" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<define name="JS_AXIS_THROTTLE" value="0"/>
<define name="JS_AXIS_THROTTLE_REVERSED" value="1"/>
conf/airframes/BR/3DplaneLisaS.xml
-2
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@@ -157,7 +157,6 @@ Pin 6 on lisa/s is number 3 in airframefile = ELEVATOR
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
<firmware name="rotorcraft">
@@ -197,6 +196,5 @@ Pin 6 on lisa/s is number 3 in airframefile = ELEVATOR
</module>
<module name="ins"/>
<module name="gps" type="ubx_ucenter"/>
<module name="send_imu_mag_current"/>
</firmware>
</airframe>
conf/airframes/BR/DelFlyDualPWMservo.xml
-1
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@@ -226,6 +226,5 @@
</module>
<module name="ins"/>
<module name="gps" type="ubx_ucenter"/>
<module name="send_imu_mag_current"/>
</firmware>
</airframe>
conf/airframes/BR/DreamCacher_bart.xml
-2
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@@ -171,7 +171,6 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
<firmware name="rotorcraft">
@@ -218,6 +217,5 @@
</module>
<module name="ins"/>
<module name="gps" type="ubx_ucenter"/>
<module name="send_imu_mag_current"/>
</firmware>
</airframe>
conf/airframes/BR/asctec_br.xml
-1
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@@ -162,7 +162,6 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
<define name="JS_AXIS_MODE" value="4"/>
</section>
conf/airframes/BR/bebop_default.xml
-2
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@@ -25,7 +25,6 @@
<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"/>
</module-->
@@ -182,7 +181,6 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
<section name="AUTOPILOT">
conf/airframes/BR/bebop_indi.xml
-2
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@@ -31,7 +31,6 @@
<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"/>
</module-->
@@ -207,7 +206,6 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
<section name="AUTOPILOT">
conf/airframes/BR/bebop_indi_frog.xml
-2
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@@ -33,7 +33,6 @@
<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"/>
</module-->
@@ -210,7 +209,6 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
<section name="AUTOPILOT">
conf/airframes/BR/ladybird_kit_bart.xml
-2
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@@ -176,7 +176,6 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
<firmware name="rotorcraft">
@@ -223,6 +222,5 @@
</module>
<module name="ins"/>
<module name="gps" type="ubx_ucenter"/>
<module name="send_imu_mag_current"/>
</firmware>
</airframe>
conf/airframes/BR/ladybird_kit_bart_bluegiga_optitrack.xml
-2
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@@ -184,7 +184,6 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
<firmware name="rotorcraft">
@@ -221,7 +220,6 @@
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat"/>
<module name="ins"/>
<module name="send_imu_mag_current"/>
<module name="stereocam">
<configure name="STEREO_UART" value="UART1"/>
<configure name="STEREO_BAUD" value="B115200"/>
conf/airframes/BR/ladybird_kit_indi_bart.xml
-2
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@@ -180,7 +180,6 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
<firmware name="rotorcraft">
@@ -229,6 +228,5 @@
<module name="geo_mag"/>
<module name="air_data"/>
<module name="gps" type="ubx_ucenter"/>
<module name="send_imu_mag_current"/>
</firmware>
</airframe>
conf/airframes/BR/mavtec4_br.xml
-1
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@@ -162,7 +162,6 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
<define name="JS_AXIS_MODE" value="4"/>
</section>
conf/airframes/CDW/cdw_asctec.xml
-1
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@@ -170,7 +170,6 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
</airframe>
conf/airframes/CDW/cdw_mavtec.xml
-2
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@@ -34,7 +34,6 @@
<!-- <module name="logger_spi_link"/>
<module name="imu_quality_assessment"/> -->
<module name="switch" type="servo"/>
<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"/>
@@ -194,7 +193,6 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
</airframe>
conf/airframes/CRIDEA/cridea_quadsuave.xml
-1
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@@ -183,7 +183,6 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_quad" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
<define name="JS_AXIS_MODE" value="4"/>
</section>
conf/airframes/ENAC/cyfoam.xml
+1 -3
View File
@@ -62,9 +62,8 @@
<!--run the chimera mag once every 64 seconds to avoid message spam-->
<define name="MPU9250_MAG_PRESCALER" value="32768"/>
</module>
<module name="send_imu_mag_current">
<!-- Current calibration -->
<define name="MILLIAMP_AT_IDLE_THROTTLE" value="1000"/>
<define name="MILLIAMP_AT_FULL_THROTTLE" value="30000"/>
<define name="CURRENT_ESTIMATION_NONLINEARITY" value="1.5"/>
@@ -300,7 +299,6 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="ele_left, ele_right, mot_right, mot_left" type="string[]"/>
<define name="JSBSIM_MODEL" value="cyclone" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<define name="NO_MOTOR_MIXING" value="TRUE"/>
</section>
conf/airframes/ENAC/fixed-wing/apogee.xml
+3
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@@ -102,6 +102,9 @@
<define name="ACCEL_X_NEUTRAL" value="0"/>
<define name="ACCEL_Y_NEUTRAL" value="0"/>
<define name="ACCEL_Z_NEUTRAL" value="0"/>
<define name="ACCEL_X_SENS" value="2.45166329295" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.45072320868" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.44974997157" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="0"/>
<define name="BODY_TO_IMU_THETA" value="0"/>
conf/airframes/ENAC/fixed-wing/crrcsim.xml
-1
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@@ -228,7 +228,6 @@
<define name="CRRCSIM_COMMAND_THROTTLE" value="0"/>
<define name="CRRCSIM_ROLL_NEUTRAL" value="0." unit="deg"/>
<define name="CRRCSIM_PITCH_NEUTRAL" value="12." unit="deg"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
</airframe>
conf/airframes/ENAC/fixed-wing/jp.xml
-1
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@@ -280,7 +280,6 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="JSBSIM_LAUNCHSPEED" value="15"/>
<define name="JSBSIM_MODEL" value="easystar" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<define name="JS_AXIS_MODE" value="4"/>
</section>
conf/airframes/ENAC/fixed-wing/matek_f765_wing.xml
-1
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@@ -197,7 +197,6 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="JSBSIM_LAUNCHSPEED" value="15"/>
<define name="JSBSIM_MODEL" value="easystar" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<define name="JS_AXIS_MODE" value="4"/>
</section>
conf/airframes/ENAC/fixed-wing/tawaki.xml
-1
View File
@@ -214,7 +214,6 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="JSBSIM_LAUNCHSPEED" value="15"/>
<define name="JSBSIM_MODEL" value="easystar" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<define name="JS_AXIS_MODE" value="4"/>
</section>
conf/airframes/ENAC/fixed-wing/zagi_mekf_wind.xml
-1
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@@ -242,7 +242,6 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="JSBSIM_LAUNCHSPEED" value="15"/>
<define name="JSBSIM_MODEL" value="easystar" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
conf/airframes/ENAC/hoops_gen_ap.xml
-2
View File
@@ -50,7 +50,6 @@
<module name="ahrs" type="int_cmpl_quat"/>
<module name="ins" />
<module name="send_imu_mag_current"/>
<!--module name="geo_mag"/-->
<module name="air_data"/>
<module name="stabilization" type="rate"/>
@@ -248,7 +247,6 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="HOOPERFLY/hooperfly_teensyfly_quad" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
<define name="JS_AXIS_MODE" value="4"/>
</section>
conf/airframes/ENAC/nucleo144_test.xml
-1
View File
@@ -205,7 +205,6 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="JSBSIM_LAUNCHSPEED" value="15"/>
<define name="JSBSIM_MODEL" value="easystar" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<define name="JS_AXIS_MODE" value="4"/>
</section>
conf/airframes/ENAC/quadrotor/ard2_base_control.xml
-1
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@@ -120,7 +120,6 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_ardrone2" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
<section name="AUTOPILOT">
conf/airframes/ENAC/quadrotor/bebop2_fish.xml
-1
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@@ -209,7 +209,6 @@
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<!--define name="JSBSIM_MODEL" value="bebop" type="string"/-->
<define name="JSBSIM_MODEL" value="simple_x_quad" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<!--define name="NO_MOTOR_MIXING" value="FALSE"/-->
</section>
conf/airframes/ENAC/quadrotor/bebop2_fish_outdoor.xml
-1
View File
@@ -216,7 +216,6 @@
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<!--define name="JSBSIM_MODEL" value="bebop" type="string"/-->
<define name="JSBSIM_MODEL" value="simple_x_quad" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<!--define name="NO_MOTOR_MIXING" value="FALSE"/-->
</section>
conf/airframes/ENAC/quadrotor/crazyflie_2.1.xml
-1
View File
@@ -244,7 +244,6 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
<section name="AUTOPILOT">
conf/airframes/ENAC/quadrotor/drop1.xml
-2
View File
@@ -70,7 +70,6 @@
<define name="AHRS_ALIGNER_IMU_ID" value="IMU_F1E_ID"/>
</module-->
<module name="send_imu_mag_current"/>
</firmware>
<servos driver="DShot">
@@ -281,7 +280,6 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="front_motor, right_motor, back_motor, left_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_quad" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
</airframe>
conf/airframes/ENAC/quadrotor/kakute_f7.xml
-1
View File
@@ -247,7 +247,6 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="HOOPERFLY/hooperfly_teensyfly_quad" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
<define name="JS_AXIS_MODE" value="4"/>
</section>
conf/airframes/ENAC/quadrotor/niquad_wind.xml
-1
View File
@@ -268,7 +268,6 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="front_motor, right_motor, back_motor, left_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_quad_wind" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
</airframe>
conf/airframes/ENAC/rover.xml
-1
View File
@@ -87,7 +87,6 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="HOOPERFLY/hooperfly_teensyfly_quad" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
<define name="JS_AXIS_MODE" value="4"/>
</section>
conf/airframes/ENAC/rover_ostrich.xml
-1
View File
@@ -111,7 +111,6 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="HOOPERFLY/hooperfly_teensyfly_quad" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
<define name="JS_AXIS_MODE" value="4"/>
</section>
conf/airframes/ESDEN/esden_cocto_lm2a2.xml
-1
View File
@@ -183,7 +183,6 @@ B2L -> CW
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
<firmware name="rotorcraft">
conf/airframes/ESDEN/esden_gain_scheduling_example.xml
-1
View File
@@ -170,7 +170,6 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
<firmware name="rotorcraft">
conf/airframes/ESDEN/esden_hexy_ll11a2pwm.xml
-1
View File
@@ -180,7 +180,6 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
<firmware name="rotorcraft">
conf/airframes/ESDEN/esden_hexy_lm2a2pwm.xml
-1
View File
@@ -141,7 +141,6 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
<firmware name="rotorcraft">
conf/airframes/ESDEN/esden_lisa2_hex.xml
-1
View File
@@ -155,7 +155,6 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
<firmware name="rotorcraft">
conf/airframes/ESDEN/esden_qs_asp22.xml
-1
View File
@@ -180,7 +180,6 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
<firmware name="rotorcraft">
conf/airframes/ESDEN/esden_quady_ll11a2pwm.xml
-1
View File
@@ -176,7 +176,6 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
<firmware name="rotorcraft">

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