mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-23 04:45:37 +08:00
Add mercury airframe/settings/telemetry/makefiles for CSC based vehicle
This commit is contained in:
Allen Ibara
@@ -0,0 +1,120 @@
|
||||
<airframe name="MERCURY">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<!--
|
||||
<servo name="AILERON" no="0" min="1000" neutral="1523" max="2000"/>
|
||||
<servo name="ELEVATOR" no="1" min="2000" neutral="1500" max="1000"/>
|
||||
<servo name="RUDDER" no="2" min="1000" neutral="1500" max="2000"/>
|
||||
-->
|
||||
<servo name="UPPER_LEFT" no="0" min="0" neutral="0" max="255"/>
|
||||
<servo name="LOWER_RIGHT" no="1" min="0" neutral="0" max="255"/>
|
||||
<servo name="LOWER_LEFT" no="2" min="0" neutral="0" max="255"/>
|
||||
<servo name="UPPER_RIGHT" no="3" min="0" neutral="0" max="255"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="THRUST" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<section name="BOOZ_TRIG" prefix="BOOZ_TRIG_">
|
||||
<define name="CONST" value="const"/>
|
||||
</section>
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
|
||||
<define name="GYRO_P_NEUTRAL" value="32447"/>
|
||||
<define name="GYRO_Q_NEUTRAL" value="32745"/>
|
||||
<define name="GYRO_R_NEUTRAL" value="32665"/>
|
||||
|
||||
<define name="ACCEL_X_NEUTRAL" value="33029"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="33240"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="32285"/>
|
||||
|
||||
<define name="MAG_X_NEUTRAL" value="32622"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="32826"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="32802"/>
|
||||
|
||||
|
||||
<define name="GYRO_P_SENS_NUM" value="(1<<IRATE_RES)" />
|
||||
<define name="GYRO_Q_SENS_NUM" value="(1<<IRATE_RES)" />
|
||||
<define name="GYRO_R_SENS_NUM" value="(1<<IRATE_RES)" />
|
||||
|
||||
<define name="GYRO_P_SENS_DEN" value="1164" />
|
||||
<define name="GYRO_Q_SENS_DEN" value="1165" />
|
||||
<define name="GYRO_R_SENS_DEN" value="1174" />
|
||||
|
||||
<define name="ACCEL_X_SENS_NUM" value="(1<<IACCEL_RES)" />
|
||||
<define name="ACCEL_Y_SENS_NUM" value="(1<<IACCEL_RES)" />
|
||||
<define name="ACCEL_Z_SENS_NUM" value="(1<<IACCEL_RES)" />
|
||||
|
||||
<define name="ACCEL_X_SENS_DEN" value="416" />
|
||||
<define name="ACCEL_Y_SENS_DEN" value="411" />
|
||||
<define name="ACCEL_Z_SENS_DEN" value="414" />
|
||||
|
||||
<define name="MAG_X_SENS_NUM" value="(1<<IMAG_RES)" />
|
||||
<define name="MAG_Y_SENS_NUM" value="(1<<IMAG_RES)" />
|
||||
<define name="MAG_Z_SENS_NUM" value="(1<<IMAG_RES)" />
|
||||
|
||||
<define name="MAG_X_SENS_DEN" value="7730" />
|
||||
<define name="MAG_Y_SENS_DEN" value="7576" />
|
||||
<define name="MAG_Z_SENS_DEN" value="7757" />
|
||||
|
||||
<define name="BODY_TO_IMU_PHI" value="ANGLE_BFP_OF_REAL(RadOfDeg(-1.8))"/>
|
||||
<define name="BODY_TO_IMU_THETA" value="ANGLE_BFP_OF_REAL(RadOfDeg(-60))"/>
|
||||
<define name="BODY_TO_IMU_PSI" value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))"/>
|
||||
|
||||
</section>
|
||||
|
||||
|
||||
|
||||
<section name="MISC">
|
||||
<define name="BOOZ2_FACE_REINJ_1" value="1024"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
|
||||
|
||||
<define name="SP_MAX_PHI" value="3000"/>
|
||||
<define name="SP_MAX_THETA" value="3000"/>
|
||||
<define name="SP_MAX_R" value="5500"/>
|
||||
<define name="DEADBAND_R" value="250"/>
|
||||
|
||||
<define name="PHI_THETA_PGAIN" value="-400"/>
|
||||
<define name="PHI_THETA_DGAIN" value="-300"/>
|
||||
<define name="PHI_THETA_DDGAIN" value=" 300"/>
|
||||
<define name="PHI_THETA_IGAIN" value="-100"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="-380"/>
|
||||
<define name="PSI_DGAIN" value="-320"/>
|
||||
<define name="PSI_DDGAIN" value=" 300"/>
|
||||
<define name="PSI_IGAIN" value="-75"/>
|
||||
|
||||
</section>
|
||||
|
||||
|
||||
<section name="SUPERVISION" prefix="SUPERVISION_">
|
||||
<define name="FRONT_ROTOR_CW" value="1"/>
|
||||
<define name="MIN_MOTOR" value="2"/>
|
||||
<define name="MAX_MOTOR" value="210"/>
|
||||
<define name="TRIM_A" value="0"/>
|
||||
<define name="TRIM_E" value="0"/>
|
||||
<define name="TRIM_R" value="0"/>
|
||||
</section>
|
||||
|
||||
|
||||
<rc_commands>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="YAW" value="@YAW"/>
|
||||
</rc_commands>
|
||||
|
||||
|
||||
<makefile>
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/mercury.makefile
|
||||
</makefile>
|
||||
|
||||
</airframe>
|
||||
@@ -0,0 +1,29 @@
|
||||
<airframe name="CSC">
|
||||
<section name="BUSS_BLMC" prefix="BUSS_BLMC_">
|
||||
<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
|
||||
</section>
|
||||
|
||||
<section name="CSC_MOTORS" prefix="CSC_">
|
||||
<define name="MOTORS_I2C" value="1"/>
|
||||
</section>
|
||||
|
||||
<servos>
|
||||
<servo name="S1" no="0" min="0" neutral="0" max="255"/>
|
||||
<servo name="S2" no="1" min="0" neutral="0" max="255"/>
|
||||
<servo name="S3" no="3" min="0" neutral="0" max="255"/>
|
||||
<servo name="S4" no="2" min="0" neutral="0" max="255"/>
|
||||
</servos>
|
||||
|
||||
|
||||
<makefile>
|
||||
|
||||
CSC_ID=0
|
||||
SRC_BOOZ=booz
|
||||
SRC_BOOZ_ARCH=booz/arm7
|
||||
ap.CFLAGS += -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_actuators_buss.makefile
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/mercury_csc.makefile
|
||||
|
||||
</makefile>
|
||||
|
||||
</airframe>
|
||||
@@ -0,0 +1,131 @@
|
||||
#
|
||||
# $Id$
|
||||
#
|
||||
# Copyright (C) 2009 Antoine Drouin, Allen H. Ibara
|
||||
#
|
||||
# This file is part of paparazzi.
|
||||
#
|
||||
# paparazzi is free software; you can redistribute it and/or modify
|
||||
# it under the terms of the GNU General Public License as published by
|
||||
# the Free Software Foundation; either version 2, or (at your option)
|
||||
# any later version.
|
||||
#
|
||||
# paparazzi is distributed in the hope that it will be useful,
|
||||
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
# GNU General Public License for more details.
|
||||
#
|
||||
# You should have received a copy of the GNU General Public License
|
||||
# along with paparazzi; see the file COPYING. If not, write to
|
||||
# the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
# Boston, MA 02111-1307, USA.
|
||||
#
|
||||
#
|
||||
|
||||
ARCHI=arm7
|
||||
|
||||
FLASH_MODE = ISP
|
||||
LPC21ISP_PORT = /dev/ttyUSB0
|
||||
|
||||
LPC21ISP_BAUD = 38400
|
||||
LPC21ISP_XTAL = 12000
|
||||
|
||||
|
||||
LPC21ISP_CONTROL = -control
|
||||
|
||||
LDSCRIPT=$(SRC_ARCH)/LPC2129-ROM.ld
|
||||
|
||||
BOARD_CFG = \"csc_board_v1_0.h\"
|
||||
|
||||
PERIODIC_FREQ = 512
|
||||
|
||||
SRC_CSC=csc
|
||||
SRC_BOOZ=booz
|
||||
|
||||
ap.ARCHDIR = $(ARCHI)
|
||||
ap.ARCH = arm7tdmi
|
||||
ap.TARGET = main
|
||||
ap.TARGETDIR = main
|
||||
|
||||
ap.CFLAGS += -I$(SRC_CSC) -I$(SRC_BOOZ)
|
||||
ap.CFLAGS += -DCONFIG=$(BOARD_CFG)
|
||||
ap.srcs += $(SRC_CSC)/mercury_main.c
|
||||
ap.CFLAGS += -DLED -DTIME_LED=1
|
||||
ap.CFLAGS += -DAHRS_ALIGNER_LED=2
|
||||
|
||||
ap.CFLAGS += -DCSC_BOARD_ID=$(CSC_ID)
|
||||
|
||||
ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIMER0_VIC_SLOT=1
|
||||
ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
|
||||
|
||||
ap.srcs += $(SRC_ARCH)/uart_hw.c
|
||||
ap.srcs += $(SRC_ARCH)/adc_hw.c
|
||||
ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_0 -DUSE_AD0_1
|
||||
|
||||
|
||||
ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B230400 -DUART0_VIC_SLOT=5
|
||||
ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DUART1_VIC_SLOT=6
|
||||
ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport \
|
||||
-DDOWNLINK_DEVICE=Uart1
|
||||
ap.srcs += downlink.c pprz_transport.c $(SRC_CSC)/csc_telemetry.c
|
||||
ap.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart1
|
||||
ap.srcs += $(SRC_CSC)/csc_datalink.c
|
||||
|
||||
ap.srcs += $(SRC_CSC)/mercury_xsens.c $(SRC_BOOZ)/booz2_imu.c $(SRC_BOOZ)/booz_trig_int.c
|
||||
ap.CFLAGS += -DXSENS1_LINK=Uart0 -DBOOZ2_IMU_TYPE=\"mercury_xsens.h\"
|
||||
|
||||
ap.srcs += $(SRC_BOOZ)/booz2_filter_attitude_cmpl_euler.c $(SRC_BOOZ)/booz_ahrs_aligner.c
|
||||
ap.CFLAGS += -DFLOAT_T=float
|
||||
|
||||
ap.srcs += $(SRC_BOOZ)/booz2_stabilization.c $(SRC_BOOZ)/booz2_stabilization_attitude.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DAP_LINK_CAN -DCAN_LED=2
|
||||
ap.CFLAGS += -DUSE_CAN1 -DCAN1_BTR=CANBitrate125k_3MHz
|
||||
ap.CFLAGS += -DCAN1_VIC_SLOT=3 -DCAN1_ERR_VIC_SLOT=7
|
||||
ap.srcs += $(SRC_CSC)/csc_can.c
|
||||
#ap.CFLAGS += -DUSE_CAN2 -DCAN2_BTR=CANBitrate125k_2MHz -DCAN2_VIC_SLOT=4
|
||||
|
||||
ap.srcs += $(SRC_CSC)/csc_ap_link.c
|
||||
|
||||
#ap.srcs += $(SRC_CSC)/csc_servos.c
|
||||
#ap.CFLAGS += -DPWM_SERVO_5 -DPWM_SERVO_0
|
||||
ap.srcs += $(SRC_ARCH)/servos_csc.c
|
||||
|
||||
ap.srcs += $(SRC_CSC)/csc_adc.c
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_csc.h\"
|
||||
ap.srcs += commands.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_JR
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
ap.srcs += $(SRC_CSC)/mercury_ap.c
|
||||
|
||||
ap.CFLAGS += -DERROR_LED=4
|
||||
|
||||
#
|
||||
#
|
||||
# test uart
|
||||
#
|
||||
test_uart.ARCHDIR = $(ARCHI)
|
||||
test_uart.ARCH = arm7tdmi
|
||||
test_uart.TARGET = test_uart
|
||||
test_uart.TARGETDIR = test_uart
|
||||
|
||||
|
||||
test_uart.CFLAGS += -I$(SRC_CSC)
|
||||
test_uart.CFLAGS += -DCONFIG=$(BOARD_CFG)
|
||||
test_uart.srcs += $(SRC_CSC)/csc_test_uart.c
|
||||
test_uart.CFLAGS += -DLED
|
||||
|
||||
# -DTIME_LED=1
|
||||
test_uart.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIMER0_VIC_SLOT=1
|
||||
test_uart.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
|
||||
|
||||
test_uart.srcs += $(SRC_ARCH)/uart_hw.c
|
||||
|
||||
test_uart.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DUART1_VIC_SLOT=6
|
||||
test_uart.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport \
|
||||
-DDOWNLINK_DEVICE=Uart1
|
||||
test_uart.srcs += downlink.c pprz_transport.c
|
||||
|
||||
@@ -0,0 +1,149 @@
|
||||
#
|
||||
# $Id$
|
||||
#
|
||||
# Copyright (C) 2009 Antoine Drouin
|
||||
#
|
||||
# This file is part of paparazzi.
|
||||
#
|
||||
# paparazzi is free software; you can redistribute it and/or modify
|
||||
# it under the terms of the GNU General Public License as published by
|
||||
# the Free Software Foundation; either version 2, or (at your option)
|
||||
# any later version.
|
||||
#
|
||||
# paparazzi is distributed in the hope that it will be useful,
|
||||
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
# GNU General Public License for more details.
|
||||
#
|
||||
# You should have received a copy of the GNU General Public License
|
||||
# along with paparazzi; see the file COPYING. If not, write to
|
||||
# the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
# Boston, MA 02111-1307, USA.
|
||||
#
|
||||
#
|
||||
|
||||
ARCHI=arm7
|
||||
|
||||
FLASH_MODE = ISP
|
||||
LPC21ISP_PORT = /dev/ttyUSB0
|
||||
|
||||
LPC21ISP_BAUD = 38400
|
||||
LPC21ISP_XTAL = 12000
|
||||
|
||||
|
||||
LPC21ISP_CONTROL = -control
|
||||
|
||||
LDSCRIPT=$(SRC_ARCH)/LPC2129-ROM.ld
|
||||
|
||||
BOARD_CFG = \"csc_board_v1_0.h\"
|
||||
|
||||
|
||||
|
||||
SRC_CSC=csc
|
||||
|
||||
ap.ARCHDIR = $(ARCHI)
|
||||
ap.ARCH = arm7tdmi
|
||||
ap.TARGET = main
|
||||
ap.TARGETDIR = main
|
||||
|
||||
ap.CFLAGS += -I$(SRC_CSC)
|
||||
ap.CFLAGS += -DCONFIG=$(BOARD_CFG)
|
||||
ap.srcs += $(SRC_CSC)/csc_main.c
|
||||
ap.CFLAGS += -DLED -DTIME_LED=1
|
||||
|
||||
ap.CFLAGS += -DCSC_BOARD_ID=$(CSC_ID)
|
||||
|
||||
ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIMER0_VIC_SLOT=1
|
||||
ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
|
||||
|
||||
ap.srcs += $(SRC_ARCH)/uart_hw.c
|
||||
ap.srcs += $(SRC_ARCH)/adc_hw.c
|
||||
ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_0 -DUSE_AD0_1
|
||||
|
||||
ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B57600 -DUART0_VIC_SLOT=5
|
||||
#ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DUART1_VIC_SLOT=6
|
||||
#ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport \
|
||||
# -DDOWNLINK_DEVICE=Uart0
|
||||
#ap.srcs += downlink.c pprz_transport.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DAP_LINK_CAN -DCAN_LED=2
|
||||
ap.CFLAGS += -DUSE_CAN1 -DCAN1_BTR=CANBitrate125k_3MHz
|
||||
ap.CFLAGS += -DCAN1_VIC_SLOT=3 -DCAN1_ERR_VIC_SLOT=7
|
||||
ap.srcs += $(SRC_CSC)/csc_can.c
|
||||
#ap.CFLAGS += -DUSE_CAN2 -DCAN2_BTR=CANBitrate125k_2MHz -DCAN2_VIC_SLOT=4
|
||||
|
||||
ap.CFLAGS += -DAP_LINK_UART -DPPRZ_UART=Uart1
|
||||
ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DUART1_VIC_SLOT=6
|
||||
ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport \
|
||||
-DDOWNLINK_DEVICE=Uart1
|
||||
ap.srcs += downlink.c pprz_transport.c $(SRC_CSC)/csc_telemetry.c
|
||||
ap.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart1
|
||||
ap.srcs += $(SRC_CSC)/csc_datalink.c
|
||||
|
||||
ap.srcs += actuators.c
|
||||
|
||||
ap.srcs += $(SRC_CSC)/csc_ap_link.c
|
||||
|
||||
ap.srcs += $(SRC_CSC)/csc_servos.c
|
||||
|
||||
ap.srcs += $(SRC_CSC)/csc_adc.c
|
||||
|
||||
ap.CFLAGS += -DTHROTTLE_LINK=Uart0 -DTHROTTLE_LED=3
|
||||
ap.srcs += $(SRC_CSC)/csc_throttle.c
|
||||
|
||||
#ap.CFLAGS += -DSPEKTRUM_LINK=Uart1 -DUSE_UART1 -DUART1_BAUD=B115200 -DUART1_VIC_SLOT=6
|
||||
#ap.srcs += $(SRC_CSC)/csc_rc_spektrum.c
|
||||
|
||||
ap.CFLAGS += -DERROR_LED=4
|
||||
|
||||
#
|
||||
#
|
||||
# test uart
|
||||
#
|
||||
test_uart.ARCHDIR = $(ARCHI)
|
||||
test_uart.ARCH = arm7tdmi
|
||||
test_uart.TARGET = test_uart
|
||||
test_uart.TARGETDIR = test_uart
|
||||
|
||||
|
||||
test_uart.CFLAGS += -I$(SRC_CSC)
|
||||
test_uart.CFLAGS += -DCONFIG=$(BOARD_CFG)
|
||||
test_uart.srcs += $(SRC_CSC)/csc_test_uart.c
|
||||
test_uart.CFLAGS += -DLED
|
||||
|
||||
# -DTIME_LED=1
|
||||
test_uart.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIMER0_VIC_SLOT=1
|
||||
test_uart.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
|
||||
|
||||
test_uart.srcs += $(SRC_ARCH)/uart_hw.c
|
||||
|
||||
test_uart.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DUART1_VIC_SLOT=6
|
||||
test_uart.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport \
|
||||
-DDOWNLINK_DEVICE=Uart1
|
||||
test_uart.srcs += downlink.c pprz_transport.c
|
||||
|
||||
|
||||
#
|
||||
# TEST CAN1
|
||||
#
|
||||
|
||||
test_can1.ARCHDIR = $(ARCHI)
|
||||
test_can1.ARCH = arm7tdmi
|
||||
test_can1.TARGET = test_can1
|
||||
test_can1.TARGETDIR = test_can1
|
||||
|
||||
|
||||
test_can1.CFLAGS += -I$(SRC_CSC)
|
||||
test_can1.CFLAGS += -DCONFIG=$(BOARD_CFG)
|
||||
test_can1.srcs += $(SRC_CSC)/test_can1.c
|
||||
test_can1.CFLAGS += -DLED
|
||||
|
||||
# -DTIME_LED=1
|
||||
test_can1.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIMER0_VIC_SLOT=1
|
||||
test_can1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
|
||||
|
||||
test_can1.CFLAGS += -DUSE_CAN1 -DCAN1_BTR=CANBitrate125k_2MHz
|
||||
test_can1.CFLAGS += -DCAN1_VIC_SLOT=3 -DCAN1_ERR_VIC_SLOT=7
|
||||
test_can1.srcs += $(SRC_CSC)/csc_can.c
|
||||
test_can1.CFLAGS += -DCSC_BOARD_ID=0
|
||||
@@ -0,0 +1,29 @@
|
||||
<!DOCTYPE settings SYSTEM "settings.dtd">
|
||||
|
||||
<!-- A conf to use for standard operation (no tuning) -->
|
||||
|
||||
<settings>
|
||||
<dl_settings>
|
||||
<dl_settings NAME="Misc" >
|
||||
<dl_setting VAR="telemetry_mode_Ap" MIN="0" STEP="1" MAX="1" module="csc/csc_telemetry" shortname="telemetry"
|
||||
values="Default|Debug"/>
|
||||
</dl_settings>
|
||||
<dl_settings NAME="imu params">
|
||||
<dl_setting VAR="xsens_setzero" MIN="0" STEP="1" MAX="1" module="csc/mercury_xsens" shortname="zero orientation"/>
|
||||
</dl_settings>
|
||||
<!-- <dl_settings NAME="flight params">
|
||||
<dl_setting VAR="csc_gains.pitch_kp" MIN="0" STEP="1" MAX="8000" module="csc/csc_ap" shortname="pitch kp"/>
|
||||
<dl_setting VAR="csc_gains.pitch_kd" MIN="0" STEP="1" MAX="3000" module="csc/csc_ap" shortname="ptch kd"/>
|
||||
<dl_setting VAR="csc_gains.roll_kp" MIN="0" STEP="1" MAX="8000" module="csc/csc_ap" shortname="roll kp"/>
|
||||
<dl_setting VAR="csc_gains.roll_kd" MIN="0" STEP="1" MAX="3000" module="csc/csc_ap" shortname="roll kd"/>
|
||||
<dl_setting VAR="csc_gains.yaw_kp" MIN="0" STEP="1" MAX="18000" module="csc/csc_ap" shortname="yaw kp"/>
|
||||
<dl_setting VAR="csc_gains.yaw_kd" MIN="0" STEP="1" MAX="3000" module="csc/csc_ap" shortname="yaw kd"/>
|
||||
</dl_settings>
|
||||
<dl_settings NAME="trims">
|
||||
<dl_setting VAR="csc_trims.elevator" MIN="-6000" STEP="10" MAX="6000" module="csc/csc_ap" shortname="elevator trim"/>
|
||||
<dl_setting VAR="csc_trims.aileron" MIN="-6000" STEP="10" MAX="6000" module="csc/csc_ap" shortname="aileron trim"/>
|
||||
<dl_setting VAR="csc_trims.rudder" MIN="-6000" STEP="10" MAX="6000" module="csc/csc_ap" shortname="rudder trim"/>
|
||||
</dl_settings> -->
|
||||
|
||||
</dl_settings>
|
||||
</settings>
|
||||
@@ -0,0 +1,29 @@
|
||||
<!DOCTYPE settings SYSTEM "settings.dtd">
|
||||
|
||||
<!-- A conf to use for standard operation (no tuning) -->
|
||||
|
||||
<settings>
|
||||
<dl_settings>
|
||||
<dl_settings NAME="Misc" >
|
||||
<dl_setting VAR="telemetry_mode_Ap" MIN="0" STEP="1" MAX="1" module="csc/csc_telemetry" shortname="telemetry"
|
||||
values="Default|Debug"/>
|
||||
</dl_settings>
|
||||
<!-- <dl_settings NAME="imu params">
|
||||
<dl_setting VAR="xsens_setzero" MIN="0" STEP="1" MAX="1" module="csc/mercury_xsens" shortname="zero orientation"/>
|
||||
</dl_settings>-->
|
||||
<!-- <dl_settings NAME="flight params">
|
||||
<dl_setting VAR="csc_gains.pitch_kp" MIN="0" STEP="1" MAX="8000" module="csc/csc_ap" shortname="pitch kp"/>
|
||||
<dl_setting VAR="csc_gains.pitch_kd" MIN="0" STEP="1" MAX="3000" module="csc/csc_ap" shortname="ptch kd"/>
|
||||
<dl_setting VAR="csc_gains.roll_kp" MIN="0" STEP="1" MAX="8000" module="csc/csc_ap" shortname="roll kp"/>
|
||||
<dl_setting VAR="csc_gains.roll_kd" MIN="0" STEP="1" MAX="3000" module="csc/csc_ap" shortname="roll kd"/>
|
||||
<dl_setting VAR="csc_gains.yaw_kp" MIN="0" STEP="1" MAX="18000" module="csc/csc_ap" shortname="yaw kp"/>
|
||||
<dl_setting VAR="csc_gains.yaw_kd" MIN="0" STEP="1" MAX="3000" module="csc/csc_ap" shortname="yaw kd"/>
|
||||
</dl_settings>
|
||||
<dl_settings NAME="trims">
|
||||
<dl_setting VAR="csc_trims.elevator" MIN="-6000" STEP="10" MAX="6000" module="csc/csc_ap" shortname="elevator trim"/>
|
||||
<dl_setting VAR="csc_trims.aileron" MIN="-6000" STEP="10" MAX="6000" module="csc/csc_ap" shortname="aileron trim"/>
|
||||
<dl_setting VAR="csc_trims.rudder" MIN="-6000" STEP="10" MAX="6000" module="csc/csc_ap" shortname="rudder trim"/>
|
||||
</dl_settings> -->
|
||||
|
||||
</dl_settings>
|
||||
</settings>
|
||||
@@ -0,0 +1,27 @@
|
||||
<?xml version="1.0"?>
|
||||
<!DOCTYPE telemetry SYSTEM "telemetry.dtd">
|
||||
<telemetry>
|
||||
<process name="Ap">
|
||||
<mode name="default">
|
||||
<message name="ALIVE" period="5"/>
|
||||
<!-- <message name="ATTITUDE" period="0.04"/> -->
|
||||
<message name="COMMANDS" period="0.08"/>
|
||||
<message name="QUAD_STATUS" period="1.1"/>
|
||||
<message name="DL_VALUE" period="1.5"/>
|
||||
</mode>
|
||||
<mode name="debug">
|
||||
<message name="ALIVE" period="5"/>
|
||||
<!-- <message name="ATTITUDE" period="0.04"/> -->
|
||||
<message name="COMMANDS" period="0.5"/>
|
||||
<message name="ACTUATORS" period="0.5"/>
|
||||
<message name="QUAD_STATUS" period="1.1"/>
|
||||
<message name="RC" period="0.5"/>
|
||||
<message name="PPM" period="0.5"/>
|
||||
<message name="BOOZ2_ACCEL" period="0.4"/>
|
||||
<message name="BOOZ2_GYRO" period="0.2"/>
|
||||
<message name="BOOZ2_MAG" period="0.4"/>
|
||||
<message name="BOOZ2_AHRS_EULER" period="0.4"/>
|
||||
<message name="DL_VALUE" period="0.5"/>
|
||||
</mode>
|
||||
</process>
|
||||
</telemetry>
|
||||
@@ -0,0 +1,13 @@
|
||||
<?xml version="1.0"?>
|
||||
<!DOCTYPE telemetry SYSTEM "telemetry.dtd">
|
||||
<telemetry>
|
||||
<process name="Ap">
|
||||
<mode name="default">
|
||||
<message name="ALIVE" period="5"/>
|
||||
<!-- <message name="ATTITUDE" period="0.04"/> -->
|
||||
<!-- <message name="QUAD_STATUS" period="1.1"/> -->
|
||||
<message name="ACTUATORS" period="0.08" />
|
||||
<message name="DL_VALUE" period="1.5"/>
|
||||
</mode>
|
||||
</process>
|
||||
</telemetry>
|
||||
Reference in New Issue
Block a user