mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 23:49:00 +08:00
update airframe files with subsystems
This commit is contained in:
Gautier Hattenberger
@@ -0,0 +1,200 @@
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<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
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<!-- Merlin
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Tiny 2.11
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Tilted infrared sensor
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XBee modem
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LEA 5H
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-->
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<airframe name="Merlin">
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<firmware name="fixedwing">
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<target name="ap" board="tiny_2.11">
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<define name="PITCH_TRIM"/>
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<define name="ALT_KALMAN"/>
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</target>
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<target name="sim" board="pc">
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<define name="PITCH_TRIM"/>
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<define name="ALT_KALMAN"/>
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</target>
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<subsystem name="radio_control" type="ppm"/>
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<subsystem name="telemetry" type="transparent"/>
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<subsystem name="control_new"/>
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<subsystem name="attitude" type="infrared"/>
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<subsystem name="gps" type="ublox_lea5h"/>
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<subsystem name="navigation"/>
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</firmware>
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<firmware name="setup">
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<target name="tunnel" board="tiny_2.11" />
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<target name="setup_actuators" board="tiny_2.11" />
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</firmware>
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<!-- commands section -->
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<servos>
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<servo name="AILERON_RIGHT" no="0" min="1900" neutral="1500" max="1100"/>
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<servo name="AILERON_LEFT" no="2" min="1900" neutral="1500" max="1100"/>
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<servo name="ELEVATOR" no="6" min="1100" neutral="1500" max="1900"/>
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<servo name="RUDDER" no="7" min="1100" neutral="1500" max="1900"/>
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<servo name="MOTOR" no="3" min="1000" neutral="1000" max="2000"/>
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</servos>
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<commands>
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<axis name="THROTTLE" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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</commands>
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<rc_commands>
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<set command="THROTTLE" value="@THROTTLE"/>
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<set command="ROLL" value="@ROLL"/>
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<set command="PITCH" value="@PITCH"/>
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<set command="YAW" value="@YAW"/>
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</rc_commands>
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<section name="MIXER">
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<define name="AILERON_DIFF" value="0.8"/>
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</section>
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<command_laws>
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<set servo="MOTOR" value="@THROTTLE"/>
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<set servo="ELEVATOR" value="@PITCH"/>
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<set servo="RUDDER" value="@YAW"/>
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<let var="roll" value="@ROLL"/>
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<set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
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<set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
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</command_laws>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="0.85"/>
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<define name="MAX_PITCH" value="0.6"/>
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</section>
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<section name="INFRARED" prefix="IR_">
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<define name="ADC_IR1_NEUTRAL" value="512"/>
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<define name="ADC_IR2_NEUTRAL" value="512"/>
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<define name="ADC_TOP_NEUTRAL" value="512"/>
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<define name="LATERAL_CORRECTION" value="1"/>
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<define name="LONGITUDINAL_CORRECTION" value="1"/>
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<define name="VERTICAL_CORRECTION" value="1"/>
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<define name="HORIZ_SENSOR_TILTED" value="1"/>
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<define name="IR1_SIGN" value="1"/>
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<define name="IR2_SIGN" value="1"/>
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<define name="TOP_SIGN" value="1"/>
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<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<!-- 0.0247311828 -->
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<!-- 0.02432905 -->
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<define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
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</section>
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<section name="MISC">
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<define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
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<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
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<define name="MAXIMUM_AIRSPEED" value="18." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
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<define name="CONTROL_RATE" value="60" unit="Hz"/>
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<!-- <define name="XBEE_INIT" value=""ATPL2\rATRN1\rATTT80\r""/> -->
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<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
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<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
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<define name="TRIGGER_DELAY" value="1."/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
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<define name="MIN_CIRCLE_RADIUS" value="50."/>
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
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<!-- outer loop proportional gain -->
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<define name="ALTITUDE_PGAIN" value="-0.06"/>
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="2."/>
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
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<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
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<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="-0.023"/>
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<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
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<!-- auto pitch inner loop -->
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<define name="AUTO_PITCH_PGAIN" value="-0.06"/>
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<define name="AUTO_PITCH_IGAIN" value="-0.0"/>
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<define name="AUTO_PITCH_DGAIN" value="-0.0"/>
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<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
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<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
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<!-- pitch trim -->
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<define name="PITCH_LOITER_TRIM" value="RadOfDeg(5.)"/>
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<define name="PITCH_DASH_TRIM" value="RadOfDeg(-5.)"/>
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<define name="THROTTLE_SLEW" value="0.1"/>
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</section>
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<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
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<define name="COURSE_PGAIN" value="-1.0"/>
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<define name="ROLL_MAX_SETPOINT" value="0.60" unit="radians"/>
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<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
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<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
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<define name="ROLL_ATTITUDE_GAIN" value="-5900"/>
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<define name="ROLL_RATE_GAIN" value="-2900"/>
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<define name="ROLL_IGAIN" value="-500"/>
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<define name="ROLL_KFFA" value="-500"/>
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<define name="ROLL_KFFD" value="-500"/>
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<define name="PITCH_PGAIN" value="-9000."/>
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<define name="PITCH_DGAIN" value="1.5"/>
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<define name="PITCH_IGAIN" value="-500"/>
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<define name="PITCH_KFFA" value="0."/>
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<define name="PITCH_KFFD" value="0."/>
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<define name="PITCH_OF_ROLL" value="RadOfDeg(0.2)"/>
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</section>
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<section name="NAV">
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<define name="NAV_PITCH" value="0."/>
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<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
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</section>
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<section name="AGGRESSIVE" prefix="AGR_">
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<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
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<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
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<define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
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<define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
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<define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
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<define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive Decent -->
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<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
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<define name="DESCENT_NAV_RATIO" value="1.0"/>
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</section>
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
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<define name="HOME_RADIUS" value="100" unit="m"/>
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</section>
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</airframe>
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@@ -12,8 +12,42 @@
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<!--load name="ins_vn100.xml"/-->
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<!--load name="ins_vn100.xml"/-->
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<!--load name="ets_module_sensors.xml"/-->
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<!--load name="ets_module_sensors.xml"/-->
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<!--load name="infrared_i2c.xml"/-->
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<!--load name="infrared_i2c.xml"/-->
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<!--load name="max3100.xml"/>
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<load name="gsm.xml"/-->
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<load name="sys_mon.xml">
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<param name="TEST" value="1"/>
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</load>
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<!--load name="enose.xml"/-->
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<load name="light.xml"/>
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</modules>
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</modules>
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<firmware name="fixedwing">
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<target name="ap" board="tiny_2.11">
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<define name="PITCH_TRIM"/>
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<define name="ALT_KALMAN"/>
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<define name="USE_I2C0"/>
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</target>
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<target name="sim" board="pc">
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<define name="PITCH_TRIM"/>
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<define name="ALT_KALMAN"/>
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<define name="USE_I2C0"/>
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</target>
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<subsystem name="radio_control" type="ppm"/>
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<subsystem name="telemetry" type="xbee_api"/>
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<subsystem name="control_new"/>
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<subsystem name="attitude" type="infrared"/>
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<subsystem name="gps" type="ublox_lea5h"/>
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<subsystem name="navigation"/>
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<subsystem name="i2c"/>
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</firmware>
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<firmware name="setup">
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<target name="tunnel" board="tiny_2.11" />
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<target name="setup_actuators" board="tiny_2.11" />
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</firmware>
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<!-- commands section -->
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<!-- commands section -->
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<servos>
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<servos>
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<servo name="MOTOR_LEFT" no="3" min="1000" neutral="1000" max="2000"/>
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<servo name="MOTOR_LEFT" no="3" min="1000" neutral="1000" max="2000"/>
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@@ -39,7 +73,7 @@
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<section name="MIXER">
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<section name="MIXER">
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<define name="AILEVON_AILERON_RATE" value="0.75"/>
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<define name="AILEVON_AILERON_RATE" value="0.75"/>
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<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
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<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
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<define name="MOTOR_YAW_RATE" value="0.05"/>
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<define name="MOTOR_YAW_RATE" value="0.0"/>
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</section>
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</section>
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<command_laws>
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<command_laws>
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@@ -57,17 +91,6 @@
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<define name="MAX_PITCH" value="0.6"/>
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<define name="MAX_PITCH" value="0.6"/>
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</section>
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</section>
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<section name="adc" prefix="ADC_CHANNEL_">
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<define name="IR1" value="ADC_1"/>
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<define name="IR2" value="ADC_2"/>
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<define name="IR_TOP" value="ADC_0"/>
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<define name="IR_NB_SAMPLES" value="16"/>
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<!--<define name="GYRO_ROLL" value="ADC_3"/>
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<define name="GYRO_NB_SAMPLES" value="16"/> -->
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</section>
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<section name="INFRARED" prefix="IR_">
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<section name="INFRARED" prefix="IR_">
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<define name="ADC_IR1_NEUTRAL" value="512"/>
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<define name="ADC_IR1_NEUTRAL" value="512"/>
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<define name="ADC_IR2_NEUTRAL" value="512"/>
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<define name="ADC_IR2_NEUTRAL" value="512"/>
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@@ -85,27 +108,9 @@
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<define name="ROLL_NEUTRAL_DEFAULT" value="-1.146" unit="deg"/>
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<define name="ROLL_NEUTRAL_DEFAULT" value="-1.146" unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="0.15" unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="0.15" unit="deg"/>
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<define name="CORRECTION_UP" value="1."/>
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<define name="CORRECTION_DOWN" value="1."/>
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<define name="CORRECTION_LEFT" value="1."/>
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<define name="CORRECTION_RIGHT" value="1."/>
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<define name="I2C_DEFAULT_CONF" value="1"/>
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<define name="I2C_DEFAULT_CONF" value="1"/>
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</section>
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</section>
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|
||||||
<!--
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<section name="GYRO" prefix="GYRO_">
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<define name="ADC_ROLL_NEUTRAL" value="520"/>
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<define name="ADC_TEMP_NEUTRAL" value="476"/>
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<define name="ADC_TEMP_SLOPE" value="0"/>
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<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
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|
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<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
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<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
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<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
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||||||
<define name="ROLL_DIRECTION" value="-1."/>
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</section>
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|
||||||
-->
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|
||||||
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|
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<section name="BAT">
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<section name="BAT">
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||||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8600"/>
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="8600"/>
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||||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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@@ -205,17 +210,6 @@
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|||||||
<define name="DESCENT_NAV_RATIO" value="1.0"/>
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<define name="DESCENT_NAV_RATIO" value="1.0"/>
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||||||
</section>
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</section>
|
||||||
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|
||||||
<!--
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|
||||||
<section name="GYRO_GAINS">
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|
||||||
<define name="GYRO_MAX_RATE" value="200."/>
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|
||||||
<define name="ROLLRATESUM_NB_SAMPLES" value="64"/>
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|
||||||
<define name="ALT_ROLL__PGAIN" value="1.0"/>
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|
||||||
<define name="ROLL_RATE_PGAIN" value="1000.0"/>
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<define name="ROLL_RATE_IGAIN" value="0.0"/>
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|
||||||
<define name="ROLL_RATE_DGAIN" value="0.0"/>
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|
||||||
</section>
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|
||||||
-->
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||||||
|
|
||||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||||
<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
|
<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
|
||||||
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
|
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
|
||||||
@@ -224,16 +218,11 @@
|
|||||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||||
</section>
|
</section>
|
||||||
|
|
||||||
<section name="DATALINK" prefix="DATALINK_">
|
|
||||||
<define name="DEVICE_TYPE" value="XBEE"/>
|
|
||||||
<define name="DEVICE_ADDRESS" value="...."/>
|
|
||||||
</section>
|
|
||||||
|
|
||||||
|
|
||||||
<section name="SIMU">
|
<section name="SIMU">
|
||||||
<define name="YAW_RESPONSE_FACTOR" value="1."/>
|
<define name="YAW_RESPONSE_FACTOR" value="1."/>
|
||||||
</section>
|
</section>
|
||||||
|
|
||||||
|
<!--
|
||||||
<makefile>
|
<makefile>
|
||||||
CONFIG = \"tiny_2_1_1.h\"
|
CONFIG = \"tiny_2_1_1.h\"
|
||||||
|
|
||||||
@@ -303,6 +292,11 @@ ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
|
|||||||
ap.CFLAGS += -DUSE_LIGHT
|
ap.CFLAGS += -DUSE_LIGHT
|
||||||
ap.srcs += light.c
|
ap.srcs += light.c
|
||||||
|
|
||||||
|
########## Max3100
|
||||||
|
ap.CFLAGS += -DMAX3100_BAUD_RATE=MAX3100_B9600
|
||||||
|
|
||||||
|
ap.CFLAGS += -DGCS_NUMBER=\"+33640286530\"
|
||||||
|
|
||||||
ap.CFLAGS += -DUSE_MODULES
|
ap.CFLAGS += -DUSE_MODULES
|
||||||
|
|
||||||
# Config for SITL simulation
|
# Config for SITL simulation
|
||||||
@@ -328,4 +322,6 @@ sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
|
|||||||
sim.CFLAGS += -DUSE_MODULES
|
sim.CFLAGS += -DUSE_MODULES
|
||||||
|
|
||||||
</makefile>
|
</makefile>
|
||||||
|
-->
|
||||||
|
|
||||||
</airframe>
|
</airframe>
|
||||||
|
|||||||
@@ -1,4 +1,4 @@
|
|||||||
<airframe name="NFF">
|
<airframe name="Blender">
|
||||||
|
|
||||||
<modules main_freq="512">
|
<modules main_freq="512">
|
||||||
<load name="booz_drop.xml"/>
|
<load name="booz_drop.xml"/>
|
||||||
@@ -6,6 +6,29 @@
|
|||||||
<!--load name="sonar_maxbotix_booz.xml"/-->
|
<!--load name="sonar_maxbotix_booz.xml"/-->
|
||||||
</modules>
|
</modules>
|
||||||
|
|
||||||
|
<firmware name="rotorcraft">
|
||||||
|
<target name="ap" board="booz_1.0">
|
||||||
|
<define name="BOOZ_FAILSAFE_GROUND_DETECT"/>
|
||||||
|
<define name="USE_GPS_ACC4R"/>
|
||||||
|
</target>
|
||||||
|
<target name="sim" board="pc">
|
||||||
|
<subsystem name="fdm" type="nps"/>
|
||||||
|
</target>
|
||||||
|
<subsystem name="radio_control" type="ppm"/>
|
||||||
|
<subsystem name="actuators" type="asctec"/>
|
||||||
|
<subsystem name="imu" type="b2_v1.1"/>
|
||||||
|
<subsystem name="gps" type="ublox"/>
|
||||||
|
<subsystem name="ahrs" type="cmpl"/>
|
||||||
|
<subsystem name="ins" type="hff"/>
|
||||||
|
</firmware>
|
||||||
|
|
||||||
|
<firmware name="booz_test_progs">
|
||||||
|
<target name="test_telemetry" board="booz_1.0"/>
|
||||||
|
<target name="test_baro" board="booz_1.0"/>
|
||||||
|
<target name="test_rc_spektrum" board="booz_1.0"/>
|
||||||
|
<target name="test_rc_ppm" board="booz_1.0"/>
|
||||||
|
</firmware>
|
||||||
|
|
||||||
<servos min="0" neutral="0" max="0xff">
|
<servos min="0" neutral="0" max="0xff">
|
||||||
<servo name="PITCH" no="0" min="0" neutral="0" max="255"/>
|
<servo name="PITCH" no="0" min="0" neutral="0" max="255"/>
|
||||||
<servo name="ROLL" no="1" min="0" neutral="0" max="255"/>
|
<servo name="ROLL" no="1" min="0" neutral="0" max="255"/>
|
||||||
@@ -205,32 +228,7 @@
|
|||||||
<define name="ALT_SHIFT_MINUS" value="-1"/>
|
<define name="ALT_SHIFT_MINUS" value="-1"/>
|
||||||
</section>
|
</section>
|
||||||
|
|
||||||
<makefile>
|
<makefile location="after">
|
||||||
ARCH=lpc21
|
|
||||||
ARCHI=arm7
|
|
||||||
BOARD_CFG = \"boards/booz2_v1_0.h\"
|
|
||||||
FLASH_MODE=IAP
|
|
||||||
|
|
||||||
# prevents motors from ever starting
|
|
||||||
#ap.CFLAGS += -DKILL_MOTORS
|
|
||||||
|
|
||||||
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
|
|
||||||
include $(CFG_BOOZ)/booz2_autopilot.makefile
|
|
||||||
include $(CFG_BOOZ)/booz2_test_progs.makefile
|
|
||||||
ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
|
|
||||||
|
|
||||||
ap.CFLAGS += -DMODEM_BAUD=B57600
|
|
||||||
include $(CFG_BOOZ)/subsystems/booz2_actuators_asctec.makefile
|
|
||||||
include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
|
|
||||||
include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
|
|
||||||
include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
|
|
||||||
include $(CFG_BOOZ)/subsystems/booz2_analog_bat_baro.makefile
|
|
||||||
include $(CFG_BOOZ)/subsystems/booz2_fms_datalink.makefile
|
|
||||||
|
|
||||||
include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
|
|
||||||
|
|
||||||
include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
|
|
||||||
ap.CFLAGS += -DUSE_GPS_ACC4R
|
|
||||||
|
|
||||||
ap.CFLAGS += -DB2_GUIDANCE_H_USE_REF
|
ap.CFLAGS += -DB2_GUIDANCE_H_USE_REF
|
||||||
|
|
||||||
@@ -239,11 +237,8 @@ ap.CFLAGS += -DBOOZ_ACTUATORS_MAX_THRUST=160 -DBOOZ_THRUST_LOWPASS=17
|
|||||||
|
|
||||||
ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c
|
ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c
|
||||||
|
|
||||||
ap.CFLAGS += -DUSE_MODULES
|
|
||||||
|
|
||||||
sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\"
|
sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\"
|
||||||
sim.CFLAGS += -DNPS_NO_SUPERVISION
|
sim.CFLAGS += -DNPS_NO_SUPERVISION
|
||||||
include $(CFG_BOOZ)/booz2_simulator_nps.makefile
|
|
||||||
|
|
||||||
sim.CFLAGS += -DB2_GUIDANCE_H_USE_REF
|
sim.CFLAGS += -DB2_GUIDANCE_H_USE_REF
|
||||||
sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
|
sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
|
||||||
|
|||||||
Reference in New Issue
Block a user