mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 22:17:01 +08:00
Included pull request advices.
This commit is contained in:
hrvoje
@@ -1,13 +0,0 @@
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<conf>
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<aircraft
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name="ardrone2"
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ac_id="101"
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airframe="airframes/HB/hb_ardrone2_opticflowtest.xml"
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radio="radios/dummy.xml"
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telemetry="telemetry/default_rotorcraft.xml"
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flight_plan="flight_plans/HB/hb_cyberzoo.xml"
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settings="settings/rotorcraft_basic.xml"
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settings_modules="modules/air_data.xml modules/cv_opticflow.xml"
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gui_color="#ffffe945aacd"
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/>
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</conf>
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@@ -1,248 +0,0 @@
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<?xml version="1.0"?>
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<control_panel name="paparazzi control panel">
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<section name="programs">
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<program name="Server" command="sw/ground_segment/tmtc/server"/>
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<program name="Data Link" command="sw/ground_segment/tmtc/link">
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<arg flag="-d" constant="/dev/ttyUSB0"/>
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</program>
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<program name="Link Combiner" command="sw/ground_segment/python/redundant_link/link_combiner.py"/>
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<program name="GCS" command="sw/ground_segment/cockpit/gcs"/>
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<program name="Flight Plan Editor" command="sw/ground_segment/cockpit/gcs">
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<arg flag="-edit"/>
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</program>
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<program name="Messages" command="sw/ground_segment/tmtc/messages"/>
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<program name="Messages (Python)" command="sw/ground_segment/python/messages_app/messagesapp.py"/>
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<program name="Settings" command="sw/ground_segment/tmtc/settings">
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<arg flag="-ac" constant="@AIRCRAFT"/>
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</program>
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<program name="Settings (Python)" command="sw/ground_segment/python/settings_app/settingsapp.py">
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<arg flag="--ac_id" constant="@AC_ID"/>
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</program>
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<program name="GPSd position display" command="sw/ground_segment/tmtc/gpsd2ivy"/>
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<program name="Log Plotter" command="sw/logalizer/logplotter"/>
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<program name="Real-time Plotter" command="sw/logalizer/plotter"/>
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<program name="Real-time Plotter (Python)" command="sw/ground_segment/python/real_time_plot/realtimeplotapp.py"/>
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<program name="Log File Player" command="sw/logalizer/play"/>
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<program name="Simulator" command="sw/simulator/pprzsim-launch">
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<arg flag="-a" constant="@AIRCRAFT"/>
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</program>
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<program name="Video Synchronizer" command="sw/ground_segment/misc/video_synchronizer"/>
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<program name="Joystick" command="sw/ground_segment/joystick/input2ivy">
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<arg flag="-ac" constant="@AIRCRAFT"/>
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<arg flag="xbox_gamepad.xml"/>
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</program>
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<program name="Environment Simulator" command="sw/simulator/gaia"/>
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<program name="Http Server" command="$python">
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<arg flag="-m" constant="SimpleHTTPServer"/>
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<arg flag="8889"/>
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</program>
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<program name="Plot Meteo Profile" command="sw/logalizer/plotprofile"/>
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<program name="Weather Station" command="sw/ground_segment/misc/davis2ivy">
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<arg flag="-d" constant="/dev/ttyUSB1"/>
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</program>
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<program name="Attitude Visualizer" command="sw/tools/attitude_viz.py"/>
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<program name="App Server" command="sw/ground_segment/tmtc/app_server"/>
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<program name="NatNet" command="sw/ground_segment/misc/natnet2ivy"/>
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<program name="Ivy2Nmea" command="sw/ground_segment/tmtc/ivy2nmea">
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<arg flag="--port" constant="/dev/ttyUSB1"/>
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<arg flag="--id" constant="1"/>
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</program>
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<program name="BluegigaUsbDongleScanner" command="sw/tools/bluegiga_usb_dongle/bluegiga_usb_driver">
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<arg flag="/dev/ttyACM2"/>
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<arg flag="scan" />
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</program>
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<program name="BluegigaUsbDongle" command="sw/tools/bluegiga_usb_dongle/bluegiga_usb_driver">
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<arg flag="/dev/ttyACM2"/>
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<arg flag="00:07:00:2d:d6:bb" />
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<arg flag="4242" />
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<arg flag="4252" />
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</program>
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<program name="ADS-B Intruders receiver" command="sw/ground_segment/misc/sbs2ivy">
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<arg flag="--ac" constant="@AC_ID"/>
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</program>
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</section>
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<section name="sessions">
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<session name="Flight UDP/WiFi">
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<program name="Server"/>
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<program name="GCS"/>
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<program name="Data Link">
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<arg flag="-udp"/>
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</program>
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</session>
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<session name="Flight USB-serial@9600">
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<program name="Data Link">
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<arg flag="-d" constant="/dev/ttyUSB0"/>
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</program>
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<program name="Server"/>
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<program name="GCS"/>
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</session>
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<session name="Flight USB-serial@57600">
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<program name="Data Link">
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<arg flag="-d" constant="/dev/ttyUSB0"/>
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<arg flag="-s" constant="57600"/>
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</program>
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<program name="Server"/>
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<program name="GCS"/>
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</session>
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<session name="Flight USB-XBee-API@57600">
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<program name="Data Link">
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<arg flag="-d" constant="/dev/paparazzi/xbee"/>
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<arg flag="-transport" constant="xbee"/>
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<arg flag="-s" constant="57600"/>
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</program>
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<program name="Server"/>
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<program name="GCS"/>
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</session>
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<session name="Flight USB-serial Redundant">
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<program name="Server"/>
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<program name="GCS"/>
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<program name="Data Link">
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<arg flag="-d" constant="/dev/ttyUSB0"/>
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<arg flag="-id" constant="1"/>
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<arg flag="-redlink"/>
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</program>
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<program name="Data Link">
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<arg flag="-d" constant="/dev/ttyUSB1"/>
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<arg flag="-id" constant="2"/>
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<arg flag="-redlink"/>
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</program>
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<program name="Link Combiner"/>
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</session>
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<session name="SupperBitRF">
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<program name="Data Link">
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<arg flag="-d" constant="/dev/ttyACM0"/>
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</program>
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<program name="Server"/>
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<program name="GCS"/>
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<program name="Messages"/>
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</session>
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<session name="SupperBitRF cable telemetry">
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<program name="Data Link">
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<arg flag="-d" constant="/dev/ttyACM1"/>
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<arg flag="-s" constant="57600"/>
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</program>
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<program name="Server"/>
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<program name="GCS"/>
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<program name="Messages"/>
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<program name="Messages"/>
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</session>
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<session name="Messages and Settings">
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<program name="Data Link">
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<arg flag="-d" constant="/dev/ttyUSB0"/>
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<arg flag="-s" constant="57600"/>
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</program>
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<program name="Server">
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<arg flag="-n"/>
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</program>
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<program name="Messages"/>
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<program name="Settings">
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<arg flag="-ac" constant="@AIRCRAFT"/>
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</program>
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</session>
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<session name="Raw Sensors">
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<program name="Data Link">
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<arg flag="-d" constant="/dev/ttyUSB0"/>
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<arg flag="-s" constant="57600"/>
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</program>
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<program name="Server">
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<arg flag="-n"/>
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</program>
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<program name="Messages">
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<arg flag="-g" constant="300x400+0-220"/>
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</program>
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<program name="Settings">
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<arg flag="-ac" constant="@AIRCRAFT"/>
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<arg flag="-g" constant="800x200+0-0"/>
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</program>
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<program name="Real-time Plotter">
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<arg flag="-g" constant="1000x250-0+0"/>
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<arg flag="-t" constant="ACC"/>
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<arg flag="-u" constant="0.05"/>
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<arg flag="-c" constant="0.00"/>
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<arg flag="-c" constant="*:telemetry:IMU_ACCEL_RAW:ax"/>
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<arg flag="-c" constant="*:telemetry:IMU_ACCEL_RAW:ay"/>
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<arg flag="-c" constant="*:telemetry:IMU_ACCEL_RAW:az"/>
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<arg flag="-n"/>
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<arg flag="-g" constant="1000x250-0+250"/>
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<arg flag="-t" constant="GYRO"/>
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<arg flag="-u" constant="0.05"/>
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<arg flag="-c" constant="0.00"/>
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<arg flag="-c" constant="*:telemetry:IMU_GYRO_RAW:gp"/>
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<arg flag="-c" constant="*:telemetry:IMU_GYRO_RAW:gq"/>
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<arg flag="-c" constant="*:telemetry:IMU_GYRO_RAW:gr"/>
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<arg flag="-n"/>
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<arg flag="-g" constant="1000x250-0+500"/>
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<arg flag="-t" constant="MAG"/>
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<arg flag="-u" constant="0.05"/>
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<arg flag="-c" constant="0.00"/>
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<arg flag="-c" constant="*:telemetry:IMU_MAG_RAW:mx"/>
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<arg flag="-c" constant="*:telemetry:IMU_MAG_RAW:my"/>
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<arg flag="-c" constant="*:telemetry:IMU_MAG_RAW:mz"/>
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<arg flag="-n"/>
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<arg flag="-g" constant="1000x250-0+750"/>
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<arg flag="-t" constant="BARO"/>
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<arg flag="-u" constant="0.05"/>
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<arg flag="-c" constant="101325.0"/>
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<arg flag="-c" constant="*:telemetry:BARO_RAW:abs"/>
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</program>
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</session>
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<session name="Scaled Sensors">
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<program name="Data Link">
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<arg flag="-d" constant="/dev/ttyUSB0"/>
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<arg flag="-s" constant="57600"/>
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</program>
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<program name="Server">
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<arg flag="-n"/>
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</program>
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<program name="Messages">
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<arg flag="-g" constant="300x400+0-220"/>
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</program>
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<program name="Settings">
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<arg flag="-ac" constant="@AIRCRAFT"/>
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<arg flag="-g" constant="800x200+0-0"/>
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</program>
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<program name="Real-time Plotter">
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<arg flag="-g" constant="1000x250-0+0"/>
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<arg flag="-t" constant="ACC"/>
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<arg flag="-u" constant="0.05"/>
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<arg flag="-c" constant="9.81"/>
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<arg flag="-c" constant="0.00"/>
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<arg flag="-c" constant="-9.81"/>
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<arg flag="-c" constant="*:telemetry:IMU_ACCEL_SCALED:ax:0.0009766"/>
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<arg flag="-c" constant="*:telemetry:IMU_ACCEL_SCALED:ay:0.0009766"/>
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<arg flag="-c" constant="*:telemetry:IMU_ACCEL_SCALED:az:0.0009766"/>
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<arg flag="-n"/>
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<arg flag="-g" constant="1000x250-0+250"/>
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<arg flag="-t" constant="GYRO"/>
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<arg flag="-u" constant="0.05"/>
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<arg flag="-c" constant="0.00"/>
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<arg flag="-c" constant="*:telemetry:IMU_GYRO_SCALED:gp:0.0139882"/>
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<arg flag="-c" constant="*:telemetry:IMU_GYRO_SCALED:gq:0.0139882"/>
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<arg flag="-c" constant="*:telemetry:IMU_GYRO_SCALED:gr:0.0139882"/>
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<arg flag="-n"/>
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<arg flag="-g" constant="1000x250-0+500"/>
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<arg flag="-t" constant="MAG"/>
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<arg flag="-u" constant="0.05"/>
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<arg flag="-c" constant="0.00"/>
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<arg flag="-c" constant="*:telemetry:IMU_MAG_SCALED:mx:0.0004883"/>
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<arg flag="-c" constant="*:telemetry:IMU_MAG_SCALED:my:0.0004883"/>
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<arg flag="-c" constant="*:telemetry:IMU_MAG_SCALED:mz:0.0004883"/>
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</program>
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</session>
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|
||||
</section>
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</control_panel>
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@@ -216,9 +216,9 @@
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<configure name="MODEM_BAUD" value="B9600"/>
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</subsystem>
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||||
|
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<subsystem name="ins" type="xsens">
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<configure name="XSENS_UART_NR" value="1"/>
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</subsystem>
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<module name="ins" type="xsens">
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<configure name="XSENS_PORT" value="uart1"/>
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</module>
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||||
|
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</firmware>
|
||||
|
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|
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@@ -36,10 +36,10 @@
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<configure name="MODEM_BAUD" value="B9600"/>
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<configure name="MODEM_PORT" value="UART3"/>
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</subsystem>
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<subsystem name="ins" type="xsens700">
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||||
<configure name="XSENS_UART_NR" value="1"/>
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<configure name="XSENS_UART_BAUD" value="B230400"/>
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||||
</subsystem>
|
||||
<module name="ins" type="xsens700">
|
||||
<configure name="XSENS_PORT" value="uart1"/>
|
||||
<configure name="XSENS_BAUD" value="B230400"/>
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||||
</module>
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||||
</target>
|
||||
<target name="fbw" board="lisa_m_2.0">
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<configure name="SEPARATE_FBW" value="1"/>
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@@ -70,10 +70,10 @@
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<configure name="MODEM_BAUD" value="B9600"/>
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||||
<configure name="MODEM_PORT" value="UART3"/>
|
||||
</subsystem>
|
||||
<subsystem name="ins" type="xsens700">
|
||||
<configure name="XSENS_UART_NR" value="1"/>
|
||||
<configure name="XSENS_UART_BAUD" value="B230400"/>
|
||||
</subsystem>
|
||||
<module name="ins" type="xsens700">
|
||||
<configure name="XSENS_PORT" value="uart1"/>
|
||||
<configure name="XSENS_BAUD" value="B230400"/>
|
||||
</module>
|
||||
</target>
|
||||
<define name="AGR_CLIMB"/>
|
||||
<define name="LOITER_TRIM"/>
|
||||
|
||||
@@ -25,10 +25,10 @@
|
||||
<subsystem name="control"/>
|
||||
<!-- Sensors -->
|
||||
<subsystem name="navigation"/>
|
||||
<subsystem name="ins" type="xsens">
|
||||
<configure name="XSENS_UART_NR" value="0"/>
|
||||
<configure name="XSENS_UART_BAUD" value="B230400"/>
|
||||
</subsystem>
|
||||
<module name="ins" type="xsens">
|
||||
<configure name="XSENS_PORT" value="uart0"/>
|
||||
<configure name="XSENS_BAUD" value="B230400"/>
|
||||
</module>
|
||||
</firmware>
|
||||
|
||||
<!-- ************************* MODULES ************************* -->
|
||||
|
||||
@@ -96,6 +96,7 @@
|
||||
<module name="ahrs" type="int_cmpl_quat"/>
|
||||
</target>
|
||||
<target name="test_module" board="lisa_mx_2.0">
|
||||
<module name="usb_serial_stm32_example1"/>
|
||||
</target>
|
||||
</firmware>
|
||||
|
||||
|
||||
@@ -1,218 +0,0 @@
|
||||
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
||||
|
||||
<airframe name="ardrone2">
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="ardrone2"/>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<subsystem name="fdm" type="jsbsim"/>
|
||||
</target>
|
||||
|
||||
<define name="USE_SONAR" value="TRUE"/>
|
||||
|
||||
<!-- Subsystem section -->
|
||||
<subsystem name="telemetry" type="transparent_udp"/>
|
||||
<subsystem name="radio_control" type="datalink"/>
|
||||
<subsystem name="motor_mixing"/>
|
||||
<subsystem name="actuators" type="ardrone2"/>
|
||||
<subsystem name="imu" type="ardrone2"/>
|
||||
<!-- gps: "ublox" or change to "sirf" for usage with parrot flight recorder -->
|
||||
<subsystem name="gps" type="datalink"/>
|
||||
<subsystem name="stabilization" type="int_quat"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_quat">
|
||||
<configure name="USE_MAGNETOMETER" value="FALSE"/> <!-- Heading is from Optitrack, in reguler outside flight case one would use and Magnetometer-->
|
||||
<define name="AHRS_USE_GPS_HEADING" value="TRUE"/>
|
||||
</subsystem>
|
||||
<subsystem name="ins" type="extended"/>
|
||||
</firmware>
|
||||
|
||||
<modules main_freq="512">
|
||||
<load name="bat_voltage_ardrone2.xml"/>
|
||||
<!-- remove the gps_ubx_ucenter module if you use the sirf gps (flight recorder) -->
|
||||
<load name="air_data.xml"/>
|
||||
<!--load name="logger_file.xml"/-->
|
||||
<!--
|
||||
<load name="video_thread.xml">
|
||||
<define name="VIDEO_THREAD_CAMERA" value="front_camera"/>
|
||||
</load>
|
||||
-->
|
||||
<!--load name="video_rtp_stream.xml"/-->
|
||||
<load name="cv_opticflow.xml"/>
|
||||
<!--<load name="opticflow_hover.xml"/> -->
|
||||
</modules>
|
||||
|
||||
<commands>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="THRUST" failsafe_value="3000"/>
|
||||
</commands>
|
||||
|
||||
<servos driver="Default">
|
||||
<servo name="TOP_LEFT" no="0" min="0" neutral="1" max="500"/>
|
||||
<servo name="TOP_RIGHT" no="1" min="0" neutral="1" max="500"/>
|
||||
<servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500"/>
|
||||
<servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500"/>
|
||||
</servos>
|
||||
|
||||
<section name="MIXING" prefix="MOTOR_MIXING_">
|
||||
<define name="TRIM_ROLL" value="0"/>
|
||||
<define name="TRIM_PITCH" value="0"/>
|
||||
<define name="TRIM_YAW" value="0"/>
|
||||
|
||||
<!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
|
||||
<define name="TYPE" value="QUAD_X"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
|
||||
<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
|
||||
<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
|
||||
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
|
||||
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<!-- Accelero -->
|
||||
<define name="ACCEL_X_NEUTRAL" value="2048"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="2048"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="2048"/>
|
||||
|
||||
<!-- Magneto calibration -->
|
||||
<define name="MAG_X_NEUTRAL" value="0"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="0"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="-180"/>
|
||||
<define name="MAG_X_SENS" value="16." integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="16." integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="16." integer="16"/>
|
||||
|
||||
<!-- Magneto current calibration -->
|
||||
<define name="MAG_X_CURRENT_COEF" value="0.0"/>
|
||||
<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
|
||||
<define name="MAG_Z_CURRENT_COEF" value="0.0"/>
|
||||
|
||||
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
|
||||
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
|
||||
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
|
||||
</section>
|
||||
|
||||
<!-- local magnetic field -->
|
||||
<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
|
||||
<section name="AHRS" prefix="AHRS_">
|
||||
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
|
||||
<!-- Delft -->
|
||||
<define name="H_X" value="0.3892503"/>
|
||||
<define name="H_Y" value="0.0017972"/>
|
||||
<define name="H_Z" value="0.9211303"/>
|
||||
</section>
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
<define name="SONAR_MAX_RANGE" value="2.2"/>
|
||||
<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
|
||||
<define name="USE_GPS_ALT" value="TRUE"/>
|
||||
<define name="VFF_R_GPS" value="0.01"/>
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
|
||||
<!-- setpoints -->
|
||||
<define name="SP_MAX_P" value="140" unit="deg/s"/>
|
||||
<define name="SP_MAX_Q" value="140" unit="deg/s"/>
|
||||
<define name="SP_MAX_R" value="140" unit="deg/s"/>
|
||||
<define name="DEADBAND_P" value="20"/>
|
||||
<define name="DEADBAND_Q" value="20"/>
|
||||
<define name="DEADBAND_R" value="200"/>
|
||||
|
||||
<!-- feedback -->
|
||||
<define name="GAIN_P" value="400"/>
|
||||
<define name="GAIN_Q" value="400"/>
|
||||
<define name="GAIN_R" value="350"/>
|
||||
|
||||
<define name="IGAIN_P" value="75"/>
|
||||
<define name="IGAIN_Q" value="75"/>
|
||||
<define name="IGAIN_R" value="50"/>
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
|
||||
<!-- setpoints -->
|
||||
<define name="SP_MAX_PHI" value="45" unit="deg"/>
|
||||
<define name="SP_MAX_THETA" value="45" unit="deg"/>
|
||||
<define name="SP_MAX_R" value="600" unit="deg/s"/>
|
||||
<define name="DEADBAND_A" value="0"/>
|
||||
<define name="DEADBAND_E" value="0"/>
|
||||
<define name="DEADBAND_R" value="250"/>
|
||||
|
||||
<!-- reference -->
|
||||
<define name="REF_OMEGA_P" value="450" unit="deg/s"/>
|
||||
<define name="REF_ZETA_P" value="0.9"/>
|
||||
<define name="REF_MAX_P" value="600." unit="deg/s"/>
|
||||
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
|
||||
<define name="REF_ZETA_Q" value="0.9"/>
|
||||
<define name="REF_MAX_Q" value="600." unit="deg/s"/>
|
||||
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_R" value="200" unit="deg/s"/>
|
||||
<define name="REF_ZETA_R" value="0.9"/>
|
||||
<define name="REF_MAX_R" value="300." unit="deg/s"/>
|
||||
<define name="REF_MAX_RDOT" value="RadOfDeg(4000.)"/>
|
||||
|
||||
<!-- feedback -->
|
||||
<define name="PHI_PGAIN" value="850"/>
|
||||
<define name="PHI_DGAIN" value="425"/>
|
||||
<define name="PHI_IGAIN" value="0"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="850"/>
|
||||
<define name="THETA_DGAIN" value="425"/>
|
||||
<define name="THETA_IGAIN" value="0"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="1000"/>
|
||||
<define name="PSI_DGAIN" value="700"/>
|
||||
<define name="PSI_IGAIN" value="0"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value="0"/>
|
||||
<define name="THETA_DDGAIN" value="0"/>
|
||||
<define name="PSI_DDGAIN" value="100"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
||||
<define name="HOVER_KP" value="283"/>
|
||||
<define name="HOVER_KD" value="82"/>
|
||||
<define name="HOVER_KI" value="13"/>
|
||||
<define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
|
||||
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<!-- Good weather -->
|
||||
<define name="MAX_BANK" value="12" unit="deg"/>
|
||||
<!-- Bad weather -->
|
||||
<!-- define name="MAX_BANK" value="32" unit="deg"/ -->
|
||||
<define name="PGAIN" value="79"/>
|
||||
<define name="DGAIN" value="100"/>
|
||||
<define name="IGAIN" value="30"/>
|
||||
</section>
|
||||
|
||||
<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_ardrone2.h" type="string"/>
|
||||
</section>
|
||||
|
||||
<section name="AUTOPILOT">
|
||||
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
|
||||
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
|
||||
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="9.8" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="10.4" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
|
||||
</section>
|
||||
</airframe>
|
||||
@@ -37,10 +37,10 @@
|
||||
|
||||
<servos driver="Pwm">
|
||||
<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="FRONT" no="1" min="2100" neutral="1500" max="900"/>
|
||||
<servo name="RIGHTBACK" no="2" min="900" neutral="1500" max="2100"/>
|
||||
<servo name="LEFTBACK" no="3" min="2100" neutral="1500" max="900"/>
|
||||
<servo name="TAIL" no="4" min="1100" neutral="1450" max="1800"/>
|
||||
<servo name="BACK" no="1" min="1050" neutral="1500" max="1950"/>
|
||||
<servo name="LEFTFRONT" no="2" min="1050" neutral="1500" max="1950"/>
|
||||
<servo name="RIGHTFRONT" no="3" min="1950" neutral="1500" max="1050"/>
|
||||
<servo name="TAIL" no="4" min="1850" neutral="1600" max="1350"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
@@ -61,7 +61,7 @@
|
||||
|
||||
<section name="MIXING" prefix="SW_MIXING_">
|
||||
<!-- front left (CW), front right (CCW), back right (CW), back left (CCW) -->
|
||||
<define name="TYPE" value="H120"/>
|
||||
<define name="TYPE" value="HR120"/>
|
||||
<define name="TRIM_ROLL" value="0"/>
|
||||
<define name="TRIM_PITCH" value="0"/>
|
||||
<define name="TRIM_COLL" value="0"/>
|
||||
@@ -71,9 +71,9 @@
|
||||
<call fun="throttle_curve_run(autopilot_motors_on, values)"/>
|
||||
<call fun="swashplate_mixing_run(values)"/>
|
||||
<set servo="THROTTLE" value="throttle_curve.throttle"/>
|
||||
<set servo="FRONT" value="swashplate_mixing.commands[SW_FRONT]"/>
|
||||
<set servo="RIGHTBACK" value="swashplate_mixing.commands[SW_RIGHTBACK]"/>
|
||||
<set servo="LEFTBACK" value="swashplate_mixing.commands[SW_LEFTBACK]"/>
|
||||
<set servo="BACK" value="swashplate_mixing.commands[SW_BACK]"/>
|
||||
<set servo="LEFTFRONT" value="swashplate_mixing.commands[SW_LEFTFRONT]"/>
|
||||
<set servo="RIGHTFRONT" value="swashplate_mixing.commands[SW_RIGHTFRONT]"/>
|
||||
<set servo="TAIL" value="@YAW + throttle_curve.throttle*2800/7000"/>
|
||||
</command_laws>
|
||||
|
||||
|
||||
@@ -180,7 +180,7 @@
|
||||
<module name="imu" type="analog">
|
||||
<configure name="GYRO_P" value="ADC_3"/>
|
||||
</module>
|
||||
<module name="gps" type="ublox_utm"/>
|
||||
<module name="gps" type="ublox"/>
|
||||
<module name="infrared_adc"/>
|
||||
<module name="ahrs" type="infrared"/>
|
||||
<module name="ins" type="alt_float"/>
|
||||
|
||||
@@ -21,10 +21,10 @@
|
||||
<subsystem name="telemetry" type="transparent"/>
|
||||
|
||||
<!-- Sensors -->
|
||||
<subsystem name="imu" type="xsens">
|
||||
<configure name="XSENS_UART_NR" value="3"/>
|
||||
<configure name="XSENS_UART_BAUD" value="B115200"/>
|
||||
</subsystem>
|
||||
<module name="imu" type="xsens">
|
||||
<configure name="XSENS_PORT" value="uart3"/>
|
||||
<configure name="XSENS_BAUD" value="B115200"/>
|
||||
</module>
|
||||
<subsystem name="ahrs" type="int_cmpl_quat"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="control"/>
|
||||
|
||||
@@ -21,10 +21,10 @@
|
||||
<subsystem name="telemetry" type="transparent"/>
|
||||
|
||||
<!-- Sensors -->
|
||||
<subsystem name="ins" type="xsens">
|
||||
<configure name="XSENS_UART_NR" value="3"/>
|
||||
<configure name="XSENS_UART_BAUD" value="B115200"/>
|
||||
</subsystem>
|
||||
<module name="ins" type="xsens">
|
||||
<configure name="XSENS_PORT" value="uart3"/>
|
||||
<configure name="XSENS_BAUD" value="B115200"/>
|
||||
</module>
|
||||
|
||||
<subsystem name="control"/>
|
||||
<subsystem name="navigation"/>
|
||||
|
||||
@@ -1,3 +1 @@
|
||||
include $(CFG_SHARED)/gps_ublox.makefile
|
||||
|
||||
$(info Please replace <subsystem name="gps" type="ublox_utm"/> with <subsystem name="gps" type="ublox"/>)
|
||||
$(error Please replace <subsystem name="gps" type="ublox_utm"/> with <module name="gps" type="ublox"/>)
|
||||
|
||||
@@ -1,68 +1 @@
|
||||
# Hey Emacs, this is a -*- makefile -*-
|
||||
|
||||
# XSens Mti just providing IMU measurements
|
||||
|
||||
# <subsystem name="imu" type="xsens">
|
||||
# <configure name="XSENS_UART_NR" value="0"/>
|
||||
# <configure name="XSENS_UART_BAUD" value="B115200"/>
|
||||
# </subsystem>
|
||||
#
|
||||
# <section name="IMU" prefix="IMU_">
|
||||
# <define name="GYRO_P_SIGN" value="1"/>
|
||||
# <define name="GYRO_Q_SIGN" value="1"/>
|
||||
# <define name="GYRO_R_SIGN" value="1"/>
|
||||
#
|
||||
# <define name="GYRO_P_NEUTRAL" value="0"/>
|
||||
# <define name="GYRO_R_NEUTRAL" value="0"/>
|
||||
# <define name="GYRO_Q_NEUTRAL" value="0"/>
|
||||
#
|
||||
# <define name="GYRO_P_SENS" value="1" integer="16"/>
|
||||
# <define name="GYRO_R_SENS" value="1" integer="16"/>
|
||||
# <define name="GYRO_Q_SENS" value="1" integer="16"/>
|
||||
#
|
||||
# <define name="ACCEL_X_SIGN" value="1"/>
|
||||
# <define name="ACCEL_Y_SIGN" value="1"/>
|
||||
# <define name="ACCEL_Z_SIGN" value="1"/>
|
||||
#
|
||||
# <define name="ACCEL_X_SENS" value="1" integer="16"/>
|
||||
# <define name="ACCEL_Z_SENS" value="1" integer="16"/>
|
||||
# <define name="ACCEL_Y_SENS" value="1" integer="16"/>
|
||||
#
|
||||
# <define name="ACCEL_X_NEUTRAL" value="0"/>
|
||||
# <define name="ACCEL_Z_NEUTRAL" value="0"/>
|
||||
# <define name="ACCEL_Y_NEUTRAL" value="0"/>
|
||||
#
|
||||
# <define name="MAG_X_SIGN" value="1"/>
|
||||
# <define name="MAG_Y_SIGN" value="1"/>
|
||||
# <define name="MAG_Z_SIGN" value="1"/>
|
||||
#
|
||||
# <define name="MAG_X_NEUTRAL" value="-45"/>
|
||||
# <define name="MAG_Y_NEUTRAL" value="334"/>
|
||||
# <define name="MAG_Z_NEUTRAL" value="7"/>
|
||||
#
|
||||
# <define name="MAG_X_SENS" value="4.47647816128" integer="16"/>
|
||||
# <define name="MAG_Y_SENS" value="4.71085671542" integer="16"/>
|
||||
# <define name="MAG_Z_SENS" value="4.41585354498" integer="16"/>
|
||||
#
|
||||
# <define name="BODY_TO_IMU_PHI" value="0" unit="deg"/>
|
||||
# <define name="BODY_TO_IMU_THETA" value="0" unit="deg"/>
|
||||
# <define name="BODY_TO_IMU_PSI" value="0" unit="deg"/>
|
||||
# </section>
|
||||
|
||||
|
||||
#########################################
|
||||
## IMU
|
||||
|
||||
ap.CFLAGS += -DUSE_IMU
|
||||
ap.CFLAGS += -DIMU_TYPE_H=\"modules/ins/ins_xsens.h\"
|
||||
ap.srcs += $(SRC_MODULES)/ins/ins_xsens.c
|
||||
ap.srcs += $(SRC_SUBSYSTEMS)/imu.c
|
||||
|
||||
ifndef XSENS_UART_BAUD
|
||||
XSENS_UART_BAUD = B115200
|
||||
endif
|
||||
|
||||
ap.CFLAGS += -DUSE_UART$(XSENS_UART_NR)
|
||||
ap.CFLAGS += -DINS_LINK=uart$(XSENS_UART_NR)
|
||||
ap.CFLAGS += -DUART$(XSENS_UART_NR)_BAUD=$(XSENS_UART_BAUD)
|
||||
ap.CFLAGS += -DXSENS_OUTPUT_MODE=0x1836
|
||||
$(error Error: The imu xsens subsystem has been converted to a module, replace <subsystem name="imu" type="xsens"/> by <module name="imu" type="xsens"/>)
|
||||
|
||||
@@ -1,70 +1 @@
|
||||
# Hey Emacs, this is a -*- makefile -*-
|
||||
|
||||
# XSens Mti-G
|
||||
|
||||
# <subsystem name="ins" type="xsens">
|
||||
# <configure name="XSENS_UART_NR" value="0"/>
|
||||
# <configure name="XSENS_UART_BAUD" value="B115200"/>
|
||||
# </subsystem>
|
||||
|
||||
|
||||
|
||||
#########################################
|
||||
## ATTITUDE
|
||||
|
||||
ap.CFLAGS += -DUSE_INS_MODULE
|
||||
|
||||
# AHRS Results
|
||||
ap.CFLAGS += -DINS_TYPE_H=\"modules/ins/ins_xsens.h\"
|
||||
|
||||
ifndef XSENS_UART_BAUD
|
||||
XSENS_UART_BAUD = B115200
|
||||
endif
|
||||
|
||||
#B230400
|
||||
#B115200
|
||||
|
||||
ap.CFLAGS += -DUSE_UART$(XSENS_UART_NR)
|
||||
ap.CFLAGS += -DINS_LINK=uart$(XSENS_UART_NR)
|
||||
ap.CFLAGS += -DUART$(XSENS_UART_NR)_BAUD=$(XSENS_UART_BAUD)
|
||||
ap.CFLAGS += -DXSENS_OUTPUT_MODE=0x1836
|
||||
ap.srcs += $(SRC_SUBSYSTEMS)/ins.c
|
||||
ap.srcs += $(SRC_MODULES)/ins/ins_xsens.c
|
||||
ap.CFLAGS += -DAHRS_TRIGGERED_ATTITUDE_LOOP
|
||||
|
||||
|
||||
|
||||
#########################################
|
||||
## GPS
|
||||
|
||||
ap.CFLAGS += -DUSE_GPS_XSENS
|
||||
ap.CFLAGS += -DUSE_GPS_XSENS_RAW_DATA
|
||||
ap.CFLAGS += -DGPS_NB_CHANNELS=16
|
||||
ap.CFLAGS += -DUSE_GPS
|
||||
ap.CFLAGS += -DGPS_TYPE_H=\"modules/ins/ins_xsens.h\"
|
||||
ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
|
||||
|
||||
|
||||
#########################################
|
||||
## Simulator
|
||||
SIM_TARGETS = sim nps
|
||||
|
||||
ifneq (,$(findstring $(TARGET),$(SIM_TARGETS)))
|
||||
|
||||
$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
|
||||
$(TARGET).CFLAGS += -DUSE_AHRS
|
||||
|
||||
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/ahrs.c
|
||||
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_sim.c
|
||||
|
||||
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/ins.c
|
||||
$(TARGET).CFLAGS += -DINS_TYPE_H=\"subsystems/ins/ins_gps_passthrough_utm.h\"
|
||||
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/ins/ins_gps_passthrough_utm.c
|
||||
|
||||
$(TARGET).CFLAGS += -DUSE_GPS
|
||||
$(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
|
||||
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
|
||||
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
|
||||
|
||||
endif
|
||||
|
||||
$(error Error: The ins xsens subsystem has been converted to a module, replace <subsystem name="ins" type="xsens"/> by <module name="ins" type="xsens"/>)
|
||||
|
||||
@@ -1,64 +1 @@
|
||||
# Hey Emacs, this is a -*- makefile -*-
|
||||
|
||||
# XSens Mti-G
|
||||
|
||||
# <subsystem name="ins" type="xsens700">
|
||||
# <configure name="XSENS_UART_NR" value="0"/>
|
||||
# <configure name="XSENS_UART_BAUD" value="B115200"/>
|
||||
# </subsystem>
|
||||
|
||||
|
||||
#########################################
|
||||
## ATTITUDE
|
||||
|
||||
ap.CFLAGS += -DUSE_INS_MODULE
|
||||
|
||||
# AHRS Results
|
||||
ap.CFLAGS += -DINS_TYPE_H=\"modules/ins/ins_xsens.h\"
|
||||
|
||||
ifndef XSENS_UART_BAUD
|
||||
XSENS_UART_BAUD = B115200
|
||||
endif
|
||||
|
||||
ap.CFLAGS += -DUSE_UART$(XSENS_UART_NR)
|
||||
ap.CFLAGS += -DINS_LINK=uart$(XSENS_UART_NR)
|
||||
ap.CFLAGS += -DUART$(XSENS_UART_NR)_BAUD=$(XSENS_UART_BAUD)
|
||||
ap.CFLAGS += -DXSENS_OUTPUT_MODE=0x1836
|
||||
ap.srcs += $(SRC_SUBSYSTEMS)/ins.c
|
||||
ap.srcs += $(SRC_MODULES)/ins/ins_xsens700.c
|
||||
ap.CFLAGS += -DAHRS_TRIGGERED_ATTITUDE_LOOP
|
||||
|
||||
|
||||
#########################################
|
||||
## GPS
|
||||
|
||||
ap.CFLAGS += -DUSE_GPS_XSENS
|
||||
ap.CFLAGS += -DGPS_NB_CHANNELS=50
|
||||
ap.CFLAGS += -DUSE_GPS
|
||||
ap.CFLAGS += -DGPS_TYPE_H=\"modules/ins/ins_xsens.h\"
|
||||
ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
|
||||
|
||||
|
||||
#########################################
|
||||
## Simulator
|
||||
SIM_TARGETS = sim nps
|
||||
|
||||
ifneq (,$(findstring $(TARGET),$(SIM_TARGETS)))
|
||||
|
||||
$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
|
||||
$(TARGET).CFLAGS += -DUSE_AHRS
|
||||
|
||||
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/ahrs.c
|
||||
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_sim.c
|
||||
|
||||
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/ins.c
|
||||
$(TARGET).CFLAGS += -DINS_TYPE_H=\"subsystems/ins/ins_gps_passthrough_utm.h\"
|
||||
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/ins/ins_gps_passthrough_utm.c
|
||||
|
||||
$(TARGET).CFLAGS += -DUSE_GPS
|
||||
$(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
|
||||
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
|
||||
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
|
||||
|
||||
endif
|
||||
|
||||
$(error Error: The ins xsens700 subsystem has been converted to a module, replace <subsystem name="ins" type="xsens700"/> by <module name="ins" type="xsens700"/>)
|
||||
|
||||
@@ -1,123 +0,0 @@
|
||||
<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
|
||||
|
||||
<flight_plan alt="2.8" ground_alt="0" lat0="51.990634" lon0="4.376789" max_dist_from_home="8" name="hb_cyberzoo" security_height="2.7">
|
||||
<header>
|
||||
#include "autopilot.h"
|
||||
#include "subsystems/ahrs.h"
|
||||
#include "subsystems/electrical.h"
|
||||
#include "subsystems/datalink/datalink.h"
|
||||
</header>
|
||||
<waypoints>
|
||||
<waypoint height="0" name="HOME" x="0.0" y="0.0"/>
|
||||
<waypoint height="5" name="CLIMB" x="1.2" y="-0.6"/>
|
||||
<waypoint height="1.342321" name="STDBY" x="-0.7" y="-0.8"/>
|
||||
<waypoint name="TD" x="0.8" y="-1.7"/>
|
||||
<waypoint name="p1" x="3.1" y="-1.9"/>
|
||||
<waypoint name="p2" x="2.5" y="-2.2"/>
|
||||
<waypoint name="p3" x="1.7" y="-1.6"/>
|
||||
<waypoint name="p4" x="1.7" y="-3.0"/>
|
||||
<waypoint name="CAM" x="-2" y="-4" height="2."/>
|
||||
<waypoint lat="51.9906213" lon="4.3768628" name="_CZ1"/>
|
||||
<waypoint lat="51.9905874" lon="4.3767766" name="_CZ2"/>
|
||||
<waypoint lat="51.9906409" lon="4.3767226" name="_CZ3"/>
|
||||
<waypoint lat="51.990667" lon="4.376806" name="_CZ4"/>
|
||||
<waypoint lat="51.990624" lon="4.376845" name="_OZ1"/>
|
||||
<waypoint lat="51.990601" lon="4.376782" name="_OZ2"/>
|
||||
<waypoint alt="11.5" lat="51.990638" lon="4.376748" name="_OZ3"/>
|
||||
<waypoint lat="51.990657" lon="4.376804" name="_OZ4"/>
|
||||
</waypoints>
|
||||
<sectors>
|
||||
<sector color="red" name="CyberZoo">
|
||||
<corner name="_CZ1"/>
|
||||
<corner name="_CZ2"/>
|
||||
<corner name="_CZ3"/>
|
||||
<corner name="_CZ4"/>
|
||||
</sector>
|
||||
<sector color="#FF9922" name="ObstacleZone">
|
||||
<corner name="_OZ1"/>
|
||||
<corner name="_OZ2"/>
|
||||
<corner name="_OZ3"/>
|
||||
<corner name="_OZ4"/>
|
||||
</sector>
|
||||
</sectors>
|
||||
<exceptions>
|
||||
<exception cond="!InsideCyberZoo(GetPosX(), GetPosY())" deroute="Standby"/>
|
||||
<!-- <exception cond="datalink_time > 2" deroute="Land here"/>
|
||||
<exception cond="electrical.bat_low && !(nav_block == IndexOfBlock('Land')) && !(nav_block == IndexOfBlock('Flare')) && !(nav_block == IndexOfBlock('Landed'))" deroute="Land"/>
|
||||
<exception cond="electrical.bat_critical && !(nav_block == IndexOfBlock('Land')) && !(nav_block == IndexOfBlock('Flare')) && !(nav_block == IndexOfBlock('Landed'))" deroute="Land here"/> -->
|
||||
</exceptions>
|
||||
<blocks>
|
||||
<block name="Wait GPS">
|
||||
<call fun="NavKillThrottle()"/>
|
||||
<while cond="!GpsFixValid()"/>
|
||||
</block>
|
||||
<block name="Geo init">
|
||||
<while cond="LessThan(NavBlockTime(), 2)"/>
|
||||
<!-- <call fun="NavSetAltitudeReferenceHere()"/> -->
|
||||
<call fun="NavSetGroundReferenceHere()"/>
|
||||
</block>
|
||||
<block name="Holding point">
|
||||
<call fun="NavKillThrottle()"/>
|
||||
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
|
||||
</block>
|
||||
<block key="r" name="Start Engine">
|
||||
<call fun="NavResurrect()"/>
|
||||
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
|
||||
</block>
|
||||
<block key="t" name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
|
||||
<exception cond="stateGetPositionEnu_f()->z > 2.8" deroute="Standby"/>
|
||||
<call fun="NavSetWaypointHere(WP_CLIMB)"/>
|
||||
<stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
|
||||
</block>
|
||||
<block key="s" name="Standby" strip_button="Standby" strip_icon="home.png">
|
||||
<call fun="NavSetWaypointHere(WP_STDBY)"/>
|
||||
<stay wp="STDBY"/>
|
||||
</block>
|
||||
<block name="stay_p1">
|
||||
<stay wp="p1"/>
|
||||
</block>
|
||||
<block name="go_p2">
|
||||
<call fun="nav_set_heading_deg(90)"/>
|
||||
<go wp="p2"/>
|
||||
<deroute block="stay_p1"/>
|
||||
</block>
|
||||
<block name="line_p1_p2">
|
||||
<go from="p1" hmode="route" wp="p2"/>
|
||||
<stay wp="p2" until="stage_time>10"/>
|
||||
<go from="p2" hmode="route" wp="p1"/>
|
||||
<deroute block="stay_p1"/>
|
||||
</block>
|
||||
<block name="route">
|
||||
<go from="p1" hmode="route" wp="p3"/>
|
||||
<go from="p3" hmode="route" wp="p4"/>
|
||||
<go from="p4" hmode="route" wp="p1"/>
|
||||
<deroute block="stay_p1"/>
|
||||
</block>
|
||||
<block name="test yaw">
|
||||
<go wp="p1"/>
|
||||
<for var="i" from="1" to="16">
|
||||
<heading alt="WaypointAlt(WP_p1)" course="90 * $i" until="stage_time > 3"/>
|
||||
</for>
|
||||
<deroute block="Standby"/>
|
||||
</block>
|
||||
<block name="circle CAM" pre_call="nav_set_heading_towards_waypoint(WP_CAM)">
|
||||
<circle radius="nav_radius" wp="CAM"/>
|
||||
</block>
|
||||
<block key="l" name="Land here" strip_button="Land Here" strip_icon="land-right.png">
|
||||
<call fun="NavSetWaypointHere(WP_TD)"/>
|
||||
</block>
|
||||
<block name="Land">
|
||||
<go wp="TD"/>
|
||||
</block>
|
||||
<block name="Flare">
|
||||
<exception cond="NavDetectGround()" deroute="Holding point"/>
|
||||
<exception cond="!nav_is_in_flight()" deroute="Landed"/>
|
||||
<call fun="NavStartDetectGround()"/>
|
||||
<stay climb="nav_descend_vspeed" vmode="climb" wp="TD"/>
|
||||
</block>
|
||||
<block name="Landed">
|
||||
<call fun="NavKillThrottle()"/>
|
||||
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
|
||||
</block>
|
||||
</blocks>
|
||||
</flight_plan>
|
||||
@@ -61,6 +61,9 @@
|
||||
<go from="p4" hmode="route" wp="p1"/>
|
||||
<deroute block="stay_p1"/>
|
||||
</block>
|
||||
<block name="Oval">
|
||||
<oval p1="p1" p2="p2" radius="-1"/>
|
||||
</block>
|
||||
<block name="test yaw">
|
||||
<go wp="p1"/>
|
||||
<for var="i" from="1" to="16">
|
||||
|
||||
@@ -74,6 +74,9 @@
|
||||
<go from="p4" hmode="route" wp="p1"/>
|
||||
<deroute block="stay_p1"/>
|
||||
</block>
|
||||
<block name="Oval">
|
||||
<oval p1="p1" p2="p2" radius="-1"/>
|
||||
</block>
|
||||
<block name="land here" strip_button="Land Here" strip_icon="land-right.png">
|
||||
<call fun="NavSetWaypointHere(WP_TD)"/>
|
||||
</block>
|
||||
|
||||
@@ -1,21 +0,0 @@
|
||||
<!DOCTYPE module SYSTEM "module.dtd">
|
||||
|
||||
<module name="gps_i2c" dir="gps">
|
||||
<doc>
|
||||
<description>
|
||||
U-blox GPS (I2C)
|
||||
(apparently currently broken)
|
||||
</description>
|
||||
</doc>
|
||||
<header>
|
||||
<file name="gps_i2c.h"/>
|
||||
</header>
|
||||
<init fun="gps_i2c_init()"/>
|
||||
<periodic fun="gps_i2c_periodic()" freq="4." delay="4" autorun="TRUE"/>
|
||||
<event fun="gps_i2cEvent()"/>
|
||||
<makefile target="ap">
|
||||
<file name="gps_i2c.c"/>
|
||||
<define name="GPS_CONFIGURE" />
|
||||
</makefile>
|
||||
</module>
|
||||
|
||||
@@ -0,0 +1,30 @@
|
||||
<!DOCTYPE module SYSTEM "module.dtd">
|
||||
|
||||
<module name="gps_ubx_i2c" dir="gps">
|
||||
<doc>
|
||||
<description>
|
||||
U-blox GPS (I2C)
|
||||
</description>
|
||||
<configure name="GPS_UBX_I2C_DEV" value="i2cX" description="set i2c peripheral (default: i2c1)"/>
|
||||
</doc>
|
||||
|
||||
<depends>gps_ublox</depends>
|
||||
|
||||
<header>
|
||||
<file name="gps_ubx_i2c.h"/>
|
||||
</header>
|
||||
<init fun="gps_ubx_i2c_init()"/>
|
||||
<periodic fun="gps_ubx_i2c_periodic()" freq="10."/>
|
||||
<event fun="GpsUbxi2cEvent()"/>
|
||||
|
||||
<makefile>
|
||||
<configure name="GPS_UBX_I2C_DEV" default="i2c1" case="upper|lower"/>
|
||||
<define name="USE_$(GPS_UBX_I2C_DEV_UPPER)"/>
|
||||
<define name="GPS_UBX_I2C_DEV" value="$(GPS_UBX_I2C_DEV_LOWER)"/>
|
||||
<define name="GPS_I2C"/>
|
||||
<define name="I2C_BUF_LEN" value="255"/>
|
||||
<file name="gps_ubx_i2c.c"/>
|
||||
</makefile>
|
||||
|
||||
</module>
|
||||
|
||||
@@ -0,0 +1,49 @@
|
||||
<!DOCTYPE module SYSTEM "module.dtd">
|
||||
|
||||
<module name="ins_xsens700" dir="ins">
|
||||
<doc>
|
||||
<description>
|
||||
XSens IMU
|
||||
</description>
|
||||
<configure name="XSENS_PORT" value="uart1" description="The (uart) port the XSens is connected to"/>
|
||||
<configure name="XSENS_BAUD" value="B115200" description="UART baud rate"/>
|
||||
</doc>
|
||||
<header>
|
||||
<file name="imu_xsens.h"/>
|
||||
</header>
|
||||
<!-- imu init/periodic/event still called explicitly in main -->
|
||||
<makefile target="ap">
|
||||
<file name="xsens.c"/>
|
||||
<file name="xsens_common.c"/>
|
||||
<file name="imu_xsens.c"/>
|
||||
<file name="imu.c" dir="subsystems"/>
|
||||
<configure name="XSENS_PORT" default="uart1" case="upper|lower"/>
|
||||
<configure name="XSENS_BAUD" default="B115200"/>
|
||||
<define name="USE_$(XSENS_PORT_UPPER)" value="1"/>
|
||||
<define name="XSENS_LINK" value="$(XSENS_PORT_LOWER)"/>
|
||||
<define name="$(XSENS_PORT_UPPER)_BAUD" value="$(XSENS_BAUD)"/>
|
||||
<!-- TODO: check output mode -->
|
||||
<define name="XSENS_OUTPUT_MODE" value="0x1836"/>
|
||||
<raw>
|
||||
ap.CFLAGS += -DIMU_TYPE_H=\"modules/ins/imu_xsens.h\"
|
||||
</raw>
|
||||
</makefile>
|
||||
|
||||
<makefile target="sim">
|
||||
<file name="ahrs.c" dir="subsystems"/>
|
||||
<file name="ahrs_sim.c" dir="subsystems/ahrs"/>
|
||||
<define name="USE_AHRS"/>
|
||||
<raw>
|
||||
sim.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
|
||||
</raw>
|
||||
</makefile>
|
||||
|
||||
<makefile target="nps">
|
||||
<define name="USE_IMU"/>
|
||||
<file name="imu_nps.c" dir="subsystems/imu"/>
|
||||
<raw>
|
||||
nps.CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_nps.h\"
|
||||
</raw>
|
||||
</makefile>
|
||||
</module>
|
||||
|
||||
@@ -1,16 +1,77 @@
|
||||
<!DOCTYPE module SYSTEM "module.dtd">
|
||||
|
||||
<module name="ins">
|
||||
<module name="ins_xsens" dir="ins">
|
||||
<doc>
|
||||
<description>XSens</description>
|
||||
<description>
|
||||
XSens Mti-G INS
|
||||
</description>
|
||||
<configure name="XSENS_PORT" value="uart1" description="The (uart) port the XSens is connected to"/>
|
||||
<configure name="XSENS_BAUD" value="B115200" description="UART baud rate"/>
|
||||
</doc>
|
||||
<header>
|
||||
<file name="ins_module.h"/>
|
||||
<file name="ins_xsens.h"/>
|
||||
</header>
|
||||
<init fun="ins_init()"/>
|
||||
<periodic fun="ins_periodic()" freq="60"/>
|
||||
<makefile>
|
||||
<!-- ins_init is still called explicitly in main -->
|
||||
<!--init fun="ins_init()"/-->
|
||||
<periodic fun="xsens_periodic()" freq="60"/>
|
||||
<event fun="ins_xsens_event()"/>
|
||||
<makefile target="ap">
|
||||
<file name="xsens.c"/>
|
||||
<file name="xsens_common.c"/>
|
||||
<file name="ins_xsens.c"/>
|
||||
<file name="ins.c" dir="subsystems"/>
|
||||
<configure name="XSENS_PORT" default="uart1" case="upper|lower"/>
|
||||
<configure name="XSENS_BAUD" default="B115200"/>
|
||||
<define name="USE_$(XSENS_PORT_UPPER)" value="1"/>
|
||||
<define name="XSENS_LINK" value="$(XSENS_PORT_LOWER)"/>
|
||||
<define name="$(XSENS_PORT_UPPER)_BAUD" value="$(XSENS_BAUD)"/>
|
||||
<define name="XSENS_OUTPUT_MODE" value="0x1836"/>
|
||||
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
|
||||
|
||||
<file name="gps.c" dir="subsystems"/>
|
||||
<define name="USE_GPS"/>
|
||||
<define name="USE_GPS_XSENS"/>
|
||||
<define name="USE_GPS_XSENS_RAW_DATA"/>
|
||||
<define name="GPS_NB_CHANNELS" value="16"/>
|
||||
<raw>
|
||||
ap.CFLAGS += -DGPS_TYPE_H=\"modules/ins/ins_xsens.h\"
|
||||
</raw>
|
||||
</makefile>
|
||||
|
||||
<makefile target="sim">
|
||||
<file name="ahrs.c" dir="subsystems"/>
|
||||
<file name="ahrs_sim.c" dir="subsystems/ahrs"/>
|
||||
<define name="USE_AHRS"/>
|
||||
|
||||
<file name="ins.c" dir="subsystems"/>
|
||||
<file name="ins_gps_passthrough_utm.c" dir="subsystems/ins"/>
|
||||
|
||||
<file name="gps.c" dir="subsystems"/>
|
||||
<file name="gps_sim.c" dir="subsystems/gps"/>
|
||||
<define name="USE_GPS"/>
|
||||
<raw>
|
||||
sim.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
|
||||
sim.CFLAGS += -DINS_TYPE_H=\"subsystems/ins/ins_gps_passthrough_utm.h\"
|
||||
sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
|
||||
</raw>
|
||||
</makefile>
|
||||
|
||||
<makefile target="nps">
|
||||
<!-- nps dummy ahrs missing -->
|
||||
<file name="ahrs.c" dir="subsystems"/>
|
||||
<define name="USE_AHRS"/>
|
||||
<define name="NPS_BYPASS_AHRS" value="TRUE"/>
|
||||
|
||||
<file name="ins.c" dir="subsystems"/>
|
||||
<file name="ins_gps_passthrough_utm.c" dir="subsystems/ins"/>
|
||||
|
||||
<file name="gps.c" dir="subsystems"/>
|
||||
<file name="gps_sim_nps.c" dir="subsystems/gps"/>
|
||||
<define name="USE_GPS"/>
|
||||
<raw>
|
||||
nps.CFLAGS += -DINS_TYPE_H=\"subsystems/ins/ins_gps_passthrough_utm.h\"
|
||||
nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
|
||||
</raw>
|
||||
</makefile>
|
||||
</module>
|
||||
|
||||
|
||||
@@ -0,0 +1,76 @@
|
||||
<!DOCTYPE module SYSTEM "module.dtd">
|
||||
|
||||
<module name="ins_xsens700" dir="ins">
|
||||
<doc>
|
||||
<description>
|
||||
XSens Mti-G 700 INS
|
||||
</description>
|
||||
<configure name="XSENS_PORT" value="uart1" description="The (uart) port the XSens is connected to"/>
|
||||
<configure name="XSENS_BAUD" value="B115200" description="UART baud rate"/>
|
||||
</doc>
|
||||
<header>
|
||||
<file name="ins_xsens700.h"/>
|
||||
</header>
|
||||
<!-- ins_init is still called explicitly in main -->
|
||||
<!--init fun="ins_init()"/-->
|
||||
<periodic fun="xsens700_periodic()" freq="60"/>
|
||||
<event fun="ins_xsens700_event()"/>
|
||||
<makefile target="ap">
|
||||
<file name="xsens700.c"/>
|
||||
<file name="xsens_common.c"/>
|
||||
<file name="ins_xsens700.c"/>
|
||||
<file name="ins.c" dir="subsystems"/>
|
||||
<configure name="XSENS_PORT" default="uart1" case="upper|lower"/>
|
||||
<configure name="XSENS_BAUD" default="B115200"/>
|
||||
<define name="USE_$(XSENS_PORT_UPPER)" value="1"/>
|
||||
<define name="XSENS_LINK" value="$(XSENS_PORT_LOWER)"/>
|
||||
<define name="$(XSENS_PORT_UPPER)_BAUD" value="$(XSENS_BAUD)"/>
|
||||
<define name="XSENS_OUTPUT_MODE" value="0x1836"/>
|
||||
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
|
||||
|
||||
<file name="gps.c" dir="subsystems"/>
|
||||
<define name="USE_GPS"/>
|
||||
<define name="USE_GPS_XSENS"/>
|
||||
<define name="GPS_NB_CHANNELS" value="50"/>
|
||||
<raw>
|
||||
ap.CFLAGS += -DGPS_TYPE_H=\"modules/ins/ins_xsens700.h\"
|
||||
</raw>
|
||||
</makefile>
|
||||
|
||||
<makefile target="sim">
|
||||
<file name="ahrs.c" dir="subsystems"/>
|
||||
<file name="ahrs_sim.c" dir="subsystems/ahrs"/>
|
||||
<define name="USE_AHRS"/>
|
||||
|
||||
<file name="ins.c" dir="subsystems"/>
|
||||
<file name="ins_gps_passthrough_utm.c" dir="subsystems/ins"/>
|
||||
|
||||
<file name="gps.c" dir="subsystems"/>
|
||||
<file name="gps_sim.c" dir="subsystems/gps"/>
|
||||
<define name="USE_GPS"/>
|
||||
<raw>
|
||||
sim.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
|
||||
sim.CFLAGS += -DINS_TYPE_H=\"subsystems/ins/ins_gps_passthrough_utm.h\"
|
||||
sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
|
||||
</raw>
|
||||
</makefile>
|
||||
|
||||
<makefile target="nps">
|
||||
<!-- nps dummy ahrs missing -->
|
||||
<file name="ahrs.c" dir="subsystems"/>
|
||||
<define name="USE_AHRS"/>
|
||||
<define name="NPS_BYPASS_AHRS" value="TRUE"/>
|
||||
|
||||
<file name="ins.c" dir="subsystems"/>
|
||||
<file name="ins_gps_passthrough_utm.c" dir="subsystems/ins"/>
|
||||
|
||||
<file name="gps.c" dir="subsystems"/>
|
||||
<file name="gps_sim_nps.c" dir="subsystems/gps"/>
|
||||
<define name="USE_GPS"/>
|
||||
<raw>
|
||||
nps.CFLAGS += -DINS_TYPE_H=\"subsystems/ins/ins_gps_passthrough_utm.h\"
|
||||
nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
|
||||
</raw>
|
||||
</makefile>
|
||||
</module>
|
||||
|
||||
@@ -1,26 +0,0 @@
|
||||
<!DOCTYPE module SYSTEM "module.dtd">
|
||||
|
||||
<module name="ins">
|
||||
<doc>
|
||||
<description>XSens MTiG</description>
|
||||
</doc>
|
||||
<!-- <conflicts>ins</conflicts> -->
|
||||
<!-- <requires>gps_xsens</requires> -->
|
||||
<header>
|
||||
<file name="ins_module.h"/>
|
||||
</header>
|
||||
<init fun="ins_init()"/>
|
||||
<periodic fun="ins_periodic()" freq="60"/>
|
||||
<makefile>
|
||||
<define name="USE_UART0" value="1"/>
|
||||
<define name="INS_LINK" value="UART0"/>
|
||||
<define name="UART0_BAUD" value="B115200"/>
|
||||
<define name="USE_GPS_XSENS"/>
|
||||
<!-- calibrated, orientation, position, velocity, status -->
|
||||
<define name="XSENS_OUTPUT_MODE" value="0x0836"/>
|
||||
<!-- timestamp, euler, acc, rate, mag, float, no aux, NED -->
|
||||
<define name="XSENS_OUTPUT_SETTINGS" value="0x80000C05"/>
|
||||
<file name="ins_xsens.c"/>
|
||||
</makefile>
|
||||
</module>
|
||||
|
||||
@@ -1,24 +0,0 @@
|
||||
<!DOCTYPE module SYSTEM "module.dtd">
|
||||
|
||||
<module name="ins">
|
||||
<doc>
|
||||
<description>XSens MTi</description>
|
||||
</doc>
|
||||
<!-- <conflicts>ins</conflicts> -->
|
||||
<header>
|
||||
<file name="ins_module.h"/>
|
||||
</header>
|
||||
<init fun="ins_init()"/>
|
||||
<periodic fun="ins_periodic()" freq="60"/>
|
||||
<makefile>
|
||||
<define name="USE_UART0" value="1"/>
|
||||
<define name="INS_LINK" value="UART0"/>
|
||||
<define name="UART0_BAUD" value="B115200"/>
|
||||
<!-- calibrated, orientation, status -->
|
||||
<define name="XSENS_OUTPUT_MODE" value="0x0806"/>
|
||||
<!-- timestamp, euler, acc, rate, mag, float, no aux, NED -->
|
||||
<define name="XSENS_OUTPUT_SETTINGS" value="0x80000C05"/>
|
||||
<file name="ins_xsens.c"/>
|
||||
</makefile>
|
||||
</module>
|
||||
|
||||
@@ -17,10 +17,8 @@
|
||||
<init fun="init_usb_serial()"/>
|
||||
<event fun="event_usb_serial()"/>
|
||||
|
||||
<makefile target="ap">
|
||||
<raw>
|
||||
ap.srcs += $(SRC_ARCH)/usb_ser_hw.c
|
||||
</raw>
|
||||
<makefile target="!nps|sim">
|
||||
<file_arch name="usb_ser_hw.c" dir=""/>
|
||||
<define name="USE_USB_SERIAL"/>
|
||||
<file name="usb_serial_stm32_example1.c"/>
|
||||
</makefile>
|
||||
|
||||
@@ -1,17 +1,17 @@
|
||||
<!DOCTYPE module SYSTEM "module.dtd">
|
||||
<!DOCTYPE module SYSTEM "module.dtd">
|
||||
|
||||
<module name="usb_serial_stm32_example1" dir="com">
|
||||
<module name="usb_serial_stm32_example1" dir="com">
|
||||
<doc>
|
||||
<description>
|
||||
STM32 USB-serial example.
|
||||
Example of USB-serial module on STM32 architecture, using libopencm3 library.
|
||||
This example tests the capability of USB-serial port by sending a lots of data.
|
||||
To be used with Lisa M/MX 2.1
|
||||
</description>
|
||||
<description>
|
||||
STM32 USB-serial example.
|
||||
Example of USB-serial module on STM32 architecture, using libopencm3 library.
|
||||
This example tests the capability of USB-serial port by sending a lots of data.
|
||||
To be used with Lisa M/MX 2.1
|
||||
</description>
|
||||
</doc>
|
||||
|
||||
<header>
|
||||
<file name="usb_serial_stm32.h"/>
|
||||
<file name="usb_serial_stm32.h"/>
|
||||
</header>
|
||||
|
||||
<init fun="init_usb_serial()"/>
|
||||
@@ -20,11 +20,9 @@
|
||||
|
||||
<event fun="event_usb_serial()"/>
|
||||
|
||||
<makefile target="ap">
|
||||
<raw>
|
||||
ap.srcs += $(SRC_ARCH)/usb_ser_hw.c
|
||||
</raw>
|
||||
<define name="USE_USB_SERIAL"/>
|
||||
<file name="usb_serial_stm32_example2.c"/>
|
||||
<makefile target="!nps|sim">
|
||||
<file_arch name="usb_ser_hw.c" dir=""/>
|
||||
<define name="USE_USB_SERIAL"/>
|
||||
<file name="usb_serial_stm32_example2.c"/>
|
||||
</makefile>
|
||||
</module>
|
||||
</module>
|
||||
|
||||
@@ -42,14 +42,14 @@ void i2c_setbitrate(struct i2c_periph *p __attribute__((unused)), int bitrate _
|
||||
{
|
||||
}
|
||||
|
||||
bool_t i2c_idle(struct i2c_periph *p __attribute__((unused)))
|
||||
bool i2c_idle(struct i2c_periph *p __attribute__((unused)))
|
||||
{
|
||||
return TRUE;
|
||||
return true;
|
||||
}
|
||||
|
||||
#pragma GCC diagnostic push
|
||||
#pragma GCC diagnostic ignored "-Wcast-qual"
|
||||
bool_t i2c_submit(struct i2c_periph *p, struct i2c_transaction *t)
|
||||
bool i2c_submit(struct i2c_periph *p, struct i2c_transaction *t)
|
||||
{
|
||||
int file = (int)p->reg_addr;
|
||||
|
||||
@@ -68,7 +68,7 @@ bool_t i2c_submit(struct i2c_periph *p, struct i2c_transaction *t)
|
||||
/* if write failed, increment error counter queue_full_cnt */
|
||||
p->errors->queue_full_cnt++;
|
||||
t->status = I2CTransFailed;
|
||||
return TRUE;
|
||||
return true;
|
||||
}
|
||||
break;
|
||||
// Just reading
|
||||
@@ -79,7 +79,7 @@ bool_t i2c_submit(struct i2c_periph *p, struct i2c_transaction *t)
|
||||
/* if read failed, increment error counter ack_fail_cnt */
|
||||
p->errors->ack_fail_cnt++;
|
||||
t->status = I2CTransFailed;
|
||||
return TRUE;
|
||||
return true;
|
||||
}
|
||||
break;
|
||||
// First Transmit and then read with repeated start
|
||||
@@ -96,7 +96,7 @@ bool_t i2c_submit(struct i2c_periph *p, struct i2c_transaction *t)
|
||||
/* if write/read failed, increment error counter miss_start_stop_cnt */
|
||||
p->errors->miss_start_stop_cnt++;
|
||||
t->status = I2CTransFailed;
|
||||
return TRUE;
|
||||
return true;
|
||||
}
|
||||
break;
|
||||
default:
|
||||
@@ -105,7 +105,7 @@ bool_t i2c_submit(struct i2c_periph *p, struct i2c_transaction *t)
|
||||
|
||||
// Successfull transfer
|
||||
t->status = I2CTransSuccess;
|
||||
return TRUE;
|
||||
return true;
|
||||
}
|
||||
#pragma GCC diagnostic pop
|
||||
|
||||
|
||||
@@ -45,7 +45,7 @@ void spi_init_slaves(void)
|
||||
|
||||
#pragma GCC diagnostic push
|
||||
#pragma GCC diagnostic ignored "-Wcast-qual"
|
||||
bool_t spi_submit(struct spi_periph *p, struct spi_transaction *t)
|
||||
bool spi_submit(struct spi_periph *p, struct spi_transaction *t)
|
||||
{
|
||||
int fd = (int)p->reg_addr;
|
||||
|
||||
@@ -89,7 +89,7 @@ bool_t spi_submit(struct spi_periph *p, struct spi_transaction *t)
|
||||
|
||||
if (ioctl(fd, SPI_IOC_MESSAGE(1), &xfer) < 0) {
|
||||
t->status = SPITransFailed;
|
||||
return FALSE;
|
||||
return false;
|
||||
}
|
||||
|
||||
/* copy recieved data if we had to use an extra rx_buffer */
|
||||
@@ -98,20 +98,20 @@ bool_t spi_submit(struct spi_periph *p, struct spi_transaction *t)
|
||||
}
|
||||
|
||||
t->status = SPITransSuccess;
|
||||
return TRUE;
|
||||
return true;
|
||||
}
|
||||
#pragma GCC diagnostic pop
|
||||
|
||||
bool_t spi_lock(struct spi_periph *p, uint8_t slave)
|
||||
bool spi_lock(struct spi_periph *p, uint8_t slave)
|
||||
{
|
||||
// not implemented
|
||||
return FALSE;
|
||||
return false;
|
||||
}
|
||||
|
||||
bool_t spi_resume(struct spi_periph *p, uint8_t slave)
|
||||
bool spi_resume(struct spi_periph *p, uint8_t slave)
|
||||
{
|
||||
// not implemented
|
||||
return FALSE;
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
|
||||
@@ -136,7 +136,7 @@ static void sys_tick_handler(void)
|
||||
if (sys_time.timer[i].in_use &&
|
||||
sys_time.nb_tick >= sys_time.timer[i].end_time) {
|
||||
sys_time.timer[i].end_time += sys_time.timer[i].duration;
|
||||
sys_time.timer[i].elapsed = TRUE;
|
||||
sys_time.timer[i].elapsed = true;
|
||||
/* call registered callbacks, WARNING: they will be executed in the sys_time thread! */
|
||||
if (sys_time.timer[i].cb) {
|
||||
sys_time.timer[i].cb(i);
|
||||
|
||||
@@ -66,7 +66,7 @@ void udp_arch_init(void)
|
||||
* Initialize the UDP peripheral.
|
||||
* Allocate UdpSocket struct and create and bind the UDP socket.
|
||||
*/
|
||||
void udp_arch_periph_init(struct udp_periph *p, char *host, int port_out, int port_in, bool_t broadcast)
|
||||
void udp_arch_periph_init(struct udp_periph *p, char *host, int port_out, int port_in, bool broadcast)
|
||||
{
|
||||
struct UdpSocket *sock = malloc(sizeof(struct UdpSocket));
|
||||
udp_socket_create(sock, host, port_out, port_in, broadcast);
|
||||
|
||||
@@ -46,7 +46,7 @@
|
||||
* @param[in] broadcast if TRUE enable broadcasting
|
||||
* @return -1 on error, otherwise 0
|
||||
*/
|
||||
int udp_socket_create(struct UdpSocket *sock, char *host, int port_out, int port_in, bool_t broadcast)
|
||||
int udp_socket_create(struct UdpSocket *sock, char *host, int port_out, int port_in, bool broadcast)
|
||||
{
|
||||
if (sock == NULL) {
|
||||
return -1;
|
||||
|
||||
@@ -46,7 +46,7 @@ struct UdpSocket {
|
||||
* @param[in] broadcast if TRUE enable broadcasting
|
||||
* @return -1 on error, otherwise 0
|
||||
*/
|
||||
extern int udp_socket_create(struct UdpSocket *sock, char *host, int port_out, int port_in, bool_t broadcast);
|
||||
extern int udp_socket_create(struct UdpSocket *sock, char *host, int port_out, int port_in, bool broadcast);
|
||||
|
||||
/**
|
||||
* Send a packet from buffer, blocking.
|
||||
|
||||
@@ -35,7 +35,7 @@
|
||||
#define ADS8344Select() SetBit(ADS8344_SS_IOCLR,ADS8344_SS_PIN)
|
||||
#define ADS8344Unselect() SetBit(ADS8344_SS_IOSET,ADS8344_SS_PIN)
|
||||
|
||||
bool_t ADS8344_available;
|
||||
bool ADS8344_available;
|
||||
uint16_t ADS8344_values[NB_CHANNELS];
|
||||
|
||||
#define POWER_MODE (1 << 1 | 1)
|
||||
@@ -88,7 +88,7 @@ static uint8_t channel;
|
||||
void ADS8344_init(void)
|
||||
{
|
||||
channel = 0;
|
||||
ADS8344_available = FALSE;
|
||||
ADS8344_available = false;
|
||||
|
||||
/* setup pins for SSP (SCK, MISO, MOSI) */
|
||||
PINSEL1 |= 2 << 2 | 2 << 4 | 2 << 6;
|
||||
@@ -146,7 +146,7 @@ void SPI1_ISR(void)
|
||||
channel++;
|
||||
if (channel > 7) {
|
||||
channel = 0;
|
||||
ADS8344_available = TRUE;
|
||||
ADS8344_available = true;
|
||||
}
|
||||
send_request();
|
||||
SpiClearRti();
|
||||
|
||||
@@ -28,7 +28,7 @@
|
||||
#define NB_CHANNELS 8
|
||||
|
||||
extern uint16_t ADS8344_values[NB_CHANNELS];
|
||||
extern bool_t ADS8344_available;
|
||||
extern bool ADS8344_available;
|
||||
|
||||
void ADS8344_init(void);
|
||||
void ADS8344_start(void);
|
||||
|
||||
@@ -85,7 +85,7 @@ __attribute__((always_inline)) static inline void I2cSendByte(void *reg, uint8_t
|
||||
((i2cRegs_t *)reg)->dat = b;
|
||||
}
|
||||
|
||||
__attribute__((always_inline)) static inline void I2cReceive(void *reg, bool_t ack)
|
||||
__attribute__((always_inline)) static inline void I2cReceive(void *reg, bool ack)
|
||||
{
|
||||
if (ack) { ((i2cRegs_t *)reg)->conset = _BV(AA); }
|
||||
else { ((i2cRegs_t *)reg)->conclr = _BV(AAC); }
|
||||
@@ -341,12 +341,12 @@ void i2c1_hw_init(void)
|
||||
#endif /* USE_I2C1 */
|
||||
|
||||
|
||||
bool_t i2c_idle(struct i2c_periph *p)
|
||||
bool i2c_idle(struct i2c_periph *p)
|
||||
{
|
||||
return p->status == I2CIdle;
|
||||
}
|
||||
|
||||
bool_t i2c_submit(struct i2c_periph *p, struct i2c_transaction *t)
|
||||
bool i2c_submit(struct i2c_periph *p, struct i2c_transaction *t)
|
||||
{
|
||||
|
||||
uint8_t idx;
|
||||
@@ -356,7 +356,7 @@ bool_t i2c_submit(struct i2c_periph *p, struct i2c_transaction *t)
|
||||
/* queue full */
|
||||
p->errors->queue_full_cnt++;
|
||||
t->status = I2CTransFailed;
|
||||
return FALSE;
|
||||
return false;
|
||||
}
|
||||
t->status = I2CTransPending;
|
||||
|
||||
@@ -378,7 +378,7 @@ bool_t i2c_submit(struct i2c_periph *p, struct i2c_transaction *t)
|
||||
//VICIntEnable = VIC_BIT(*vic);
|
||||
enableIRQ();
|
||||
|
||||
return TRUE;
|
||||
return true;
|
||||
}
|
||||
|
||||
void i2c_event(void) { }
|
||||
|
||||
@@ -89,10 +89,10 @@ void pwm_input_isr1(void)
|
||||
T0CCR &= ~TCCR_CR3_F;
|
||||
#if USE_PWM_INPUT1 == PWM_PULSE_TYPE_ACTIVE_HIGH
|
||||
pwm_input_duty_tics[0] = t_fall - t_rise;
|
||||
pwm_input_duty_valid[0] = TRUE;
|
||||
pwm_input_duty_valid[0] = true;
|
||||
#elif USE_PWM_INPUT1 == PWM_PULSE_TYPE_ACTIVE_LOW
|
||||
pwm_input_period_tics[0] = t_fall - t_oldfall;
|
||||
pwm_input_period_valid[0] = TRUE;
|
||||
pwm_input_period_valid[0] = true;
|
||||
t_oldfall = t_fall;
|
||||
#endif //ACTIVE_HIGH
|
||||
} else if (T0CCR & TCCR_CR3_R) {
|
||||
@@ -101,10 +101,10 @@ void pwm_input_isr1(void)
|
||||
T0CCR &= ~TCCR_CR3_R;
|
||||
#if USE_PWM_INPUT1 == PWM_PULSE_TYPE_ACTIVE_LOW
|
||||
pwm_input_duty_tics[0] = t_rise - t_fall;
|
||||
pwm_input_duty_valid[0] = TRUE;
|
||||
pwm_input_duty_valid[0] = true;
|
||||
#elif USE_PWM_INPUT1 == PWM_PULSE_TYPE_ACTIVE_HIGH
|
||||
pwm_input_period_tics[0] = t_rise - t_oldrise;
|
||||
pwm_input_period_valid[0] = TRUE;
|
||||
pwm_input_period_valid[0] = true;
|
||||
t_oldrise = t_rise;
|
||||
#endif //ACTIVE_LOW
|
||||
}
|
||||
@@ -128,10 +128,10 @@ void pwm_input_isr2(void)
|
||||
T0CCR &= ~TCCR_CR0_F;
|
||||
#if USE_PWM_INPUT2 == PWM_PULSE_TYPE_ACTIVE_HIGH
|
||||
pwm_input_duty_tics[1] = t_fall - t_rise;
|
||||
pwm_input_duty_valid[1] = TRUE;
|
||||
pwm_input_duty_valid[1] = true;
|
||||
#elif USE_PWM_INPUT2 == PWM_PULSE_TYPE_ACTIVE_LOW
|
||||
pwm_input_period_tics[1] = t_fall - t_oldfall;
|
||||
pwm_input_period_valid[1] = TRUE;
|
||||
pwm_input_period_valid[1] = true;
|
||||
t_oldfall = t_fall;
|
||||
#endif //ACTIVE_HIGH
|
||||
} else if (T0CCR & TCCR_CR0_R) {
|
||||
@@ -140,10 +140,10 @@ void pwm_input_isr2(void)
|
||||
T0CCR &= ~TCCR_CR0_R;
|
||||
#if USE_PWM_INPUT2 == PWM_PULSE_TYPE_ACTIVE_LOW
|
||||
pwm_input_duty_tics[1] = t_rise - t_fall;
|
||||
pwm_input_duty_valid[1] = TRUE;
|
||||
pwm_input_duty_valid[1] = true;
|
||||
#elif USE_PWM_INPUT2 == PWM_PULSE_TYPE_ACTIVE_HIGH
|
||||
pwm_input_period_tics[1] = t_rise - t_oldrise;
|
||||
pwm_input_period_valid[1] = TRUE;
|
||||
pwm_input_period_valid[1] = true;
|
||||
t_oldrise = t_rise;
|
||||
#endif //ACTIVE_LOW
|
||||
}
|
||||
|
||||
@@ -490,7 +490,7 @@ void spi1_arch_init(void)
|
||||
#endif
|
||||
|
||||
|
||||
bool_t spi_submit(struct spi_periph *p, struct spi_transaction *t)
|
||||
bool spi_submit(struct spi_periph *p, struct spi_transaction *t)
|
||||
{
|
||||
//unsigned cpsr;
|
||||
|
||||
@@ -499,7 +499,7 @@ bool_t spi_submit(struct spi_periph *p, struct spi_transaction *t)
|
||||
if (idx >= SPI_TRANSACTION_QUEUE_LEN) { idx = 0; }
|
||||
if (idx == p->trans_extract_idx) {
|
||||
t->status = SPITransFailed;
|
||||
return FALSE; /* queue full */
|
||||
return false; /* queue full */
|
||||
}
|
||||
t->status = SPITransPending;
|
||||
|
||||
@@ -521,7 +521,7 @@ bool_t spi_submit(struct spi_periph *p, struct spi_transaction *t)
|
||||
//VICIntEnable = VIC_BIT(*vic);
|
||||
//restoreIRQ(cpsr); // restore global interrupts
|
||||
enableIRQ();
|
||||
return TRUE;
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
@@ -560,20 +560,20 @@ void spi_slave_unselect(uint8_t slave)
|
||||
SpiSlaveUnselect(slave);
|
||||
}
|
||||
|
||||
bool_t spi_lock(struct spi_periph *p, uint8_t slave)
|
||||
bool spi_lock(struct spi_periph *p, uint8_t slave)
|
||||
{
|
||||
uint8_t *vic = (uint8_t *)(p->init_struct);
|
||||
VICIntEnClear = VIC_BIT(*vic);
|
||||
if (slave < 254 && p->suspend == 0) {
|
||||
p->suspend = slave + 1; // 0 is reserved for unlock state
|
||||
VICIntEnable = VIC_BIT(*vic);
|
||||
return TRUE;
|
||||
return true;
|
||||
}
|
||||
VICIntEnable = VIC_BIT(*vic);
|
||||
return FALSE;
|
||||
return false;
|
||||
}
|
||||
|
||||
bool_t spi_resume(struct spi_periph *p, uint8_t slave)
|
||||
bool spi_resume(struct spi_periph *p, uint8_t slave)
|
||||
{
|
||||
uint8_t *vic = (uint8_t *)(p->init_struct);
|
||||
VICIntEnClear = VIC_BIT(*vic);
|
||||
@@ -584,10 +584,10 @@ bool_t spi_resume(struct spi_periph *p, uint8_t slave)
|
||||
SpiStart(p, p->trans[p->trans_extract_idx]);
|
||||
}
|
||||
VICIntEnable = VIC_BIT(*vic);
|
||||
return TRUE;
|
||||
return true;
|
||||
}
|
||||
VICIntEnable = VIC_BIT(*vic);
|
||||
return FALSE;
|
||||
return false;
|
||||
}
|
||||
|
||||
#endif /* SPI_MASTER */
|
||||
@@ -676,12 +676,12 @@ void spi1_slave_arch_init(void)
|
||||
#endif
|
||||
|
||||
/** Register one (and only one) transaction to use spi as slave */
|
||||
bool_t spi_slave_register(struct spi_periph *p, struct spi_transaction *t)
|
||||
bool spi_slave_register(struct spi_periph *p, struct spi_transaction *t)
|
||||
{
|
||||
|
||||
if (p->trans_insert_idx >= 1) {
|
||||
t->status = SPITransFailed;
|
||||
return FALSE;
|
||||
return false;
|
||||
}
|
||||
t->status = SPITransPending;
|
||||
p->status = SPIIdle;
|
||||
@@ -697,18 +697,18 @@ bool_t spi_slave_register(struct spi_periph *p, struct spi_transaction *t)
|
||||
|
||||
SpiSetDataSize(p, t->dss);
|
||||
|
||||
return TRUE;
|
||||
return true;
|
||||
}
|
||||
|
||||
bool_t spi_slave_wait(struct spi_periph *p)
|
||||
bool spi_slave_wait(struct spi_periph *p)
|
||||
{
|
||||
if (p->trans_insert_idx == 0) {
|
||||
// no transaction registered
|
||||
return FALSE;
|
||||
return false;
|
||||
}
|
||||
// Start waiting
|
||||
SpiSlaveStart(p, p->trans[p->trans_extract_idx]);
|
||||
return TRUE;
|
||||
return true;
|
||||
}
|
||||
|
||||
#endif /* SPI_SLAVE */
|
||||
|
||||
@@ -107,7 +107,7 @@ static void SSP_ISR(void) __attribute__((naked));
|
||||
// Functions for the generic device API
|
||||
static int spi_slave_hs_check_free_space(struct spi_slave_hs *p __attribute__((unused)), uint8_t len __attribute__((unused)))
|
||||
{
|
||||
return TRUE;
|
||||
return true;
|
||||
}
|
||||
|
||||
static void spi_slave_hs_transmit(struct spi_slave_hs *p __attribute__((unused)), uint8_t byte)
|
||||
|
||||
@@ -168,7 +168,7 @@ static inline void sys_tick_irq_handler(void)
|
||||
if (sys_time.timer[i].in_use &&
|
||||
sys_time.nb_tick >= sys_time.timer[i].end_time) {
|
||||
sys_time.timer[i].end_time += sys_time.timer[i].duration;
|
||||
sys_time.timer[i].elapsed = TRUE;
|
||||
sys_time.timer[i].elapsed = true;
|
||||
if (sys_time.timer[i].cb) {
|
||||
sys_time.timer[i].cb(i);
|
||||
}
|
||||
|
||||
@@ -36,7 +36,7 @@ void TRIG_ISR()
|
||||
if (msec_of_cpu_ticks(delta_t0_temp) > 10) {
|
||||
trigger_delta_t0 = delta_t0_temp;
|
||||
last = trigger_t0;
|
||||
trigger_ext_valid = TRUE;
|
||||
trigger_ext_valid = true;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -52,6 +52,6 @@ void trigger_ext_init(void)
|
||||
#else
|
||||
#error "trig_ext_hw.h: Unknown PULSE_TYPE"
|
||||
#endif
|
||||
trigger_ext_valid = FALSE;
|
||||
trigger_ext_valid = false;
|
||||
}
|
||||
|
||||
|
||||
@@ -7,7 +7,7 @@
|
||||
|
||||
uint32_t trigger_t0;
|
||||
uint32_t delta_t0;
|
||||
volatile bool_t trig_ext_valid;
|
||||
volatile bool trig_ext_valid;
|
||||
|
||||
|
||||
void TRIG_ISR()
|
||||
@@ -19,7 +19,7 @@ void TRIG_ISR()
|
||||
if (msec_of_cpu_ticks(delta_t0_temp) > 10) {
|
||||
delta_t0 = delta_t0_temp;
|
||||
last = trigger_t0;
|
||||
trig_ext_valid = TRUE;
|
||||
trig_ext_valid = true;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -35,6 +35,6 @@ void trig_ext_init(void)
|
||||
#else
|
||||
#error "trig_ext_hw.h: Unknown PULSE_TYPE"
|
||||
#endif
|
||||
trig_ext_valid = FALSE;
|
||||
trig_ext_valid = false;
|
||||
}
|
||||
|
||||
|
||||
@@ -11,7 +11,7 @@
|
||||
|
||||
extern uint32_t trigger_t0;
|
||||
extern uint32_t delta_t0;
|
||||
extern volatile bool_t trig_ext_valid;
|
||||
extern volatile bool trig_ext_valid;
|
||||
|
||||
void TRIG_ISR(void);
|
||||
void trig_ext_init(void);
|
||||
|
||||
@@ -37,7 +37,7 @@ void exti15_10_irq_handler(void)
|
||||
// if(EXTI_GetITStatus(EXTI_Line14) != RESET)
|
||||
// EXTI_ClearITPendingBit(EXTI_Line14);
|
||||
|
||||
//imu_aspirin.gyro_eoc = TRUE;
|
||||
//imu_aspirin.gyro_eoc = true;
|
||||
//imu_aspirin.status = AspirinStatusReadingGyro;
|
||||
}
|
||||
|
||||
@@ -59,5 +59,5 @@ void exti2_irq_handler(void)
|
||||
void dma1_c4_irq_handler(void)
|
||||
{
|
||||
|
||||
//imu_aspirin.accel_available = TRUE;
|
||||
//imu_aspirin.accel_available = true;
|
||||
}
|
||||
|
||||
@@ -114,7 +114,7 @@ void SPI1_ISR(void)
|
||||
channel++;
|
||||
if (channel > 7 - 1) {
|
||||
channel = 0;
|
||||
ADS8344_available = TRUE;
|
||||
ADS8344_available = true;
|
||||
ADS8344Unselect();
|
||||
} else {
|
||||
send_request();
|
||||
|
||||
@@ -22,7 +22,7 @@
|
||||
#include "subsystems/radio_control.h"
|
||||
#include "subsystems/radio_control/spektrum_arch.h"
|
||||
|
||||
bool_t rc_spk_parser_status;
|
||||
bool rc_spk_parser_status;
|
||||
uint8_t rc_spk_parser_idx;
|
||||
uint8_t rc_spk_parser_buf[RADIO_CONTROL_NB_CHANNEL * 2];
|
||||
const int16_t rc_spk_throw[RADIO_CONTROL_NB_CHANNEL] = RC_SPK_THROWS;
|
||||
|
||||
@@ -34,7 +34,7 @@
|
||||
#define RC_SPK_STA_GOT_SYNC_1 1
|
||||
#define RC_SPK_STA_GOT_SYNC_2 2
|
||||
|
||||
extern bool_t rc_spk_parser_status;
|
||||
extern bool rc_spk_parser_status;
|
||||
extern uint8_t rc_spk_parser_idx;
|
||||
extern uint8_t rc_spk_parser_buf[RADIO_CONTROL_NB_CHANNEL * 2];
|
||||
|
||||
|
||||
@@ -406,7 +406,7 @@ int VCOM_getchar(void)
|
||||
|
||||
@returns TRUE if len bytes are free
|
||||
*/
|
||||
bool_t VCOM_check_free_space(uint8_t len)
|
||||
bool VCOM_check_free_space(uint8_t len)
|
||||
{
|
||||
return (fifo_free(&txfifo) >= len ? TRUE : FALSE);
|
||||
}
|
||||
|
||||
@@ -34,11 +34,11 @@
|
||||
|
||||
#if USE_BARO_MS5534A
|
||||
|
||||
extern bool_t spi_message_received;
|
||||
extern bool_t baro_MS5534A_available;
|
||||
extern bool spi_message_received;
|
||||
extern bool baro_MS5534A_available;
|
||||
extern uint32_t baro_MS5534A_pressure;
|
||||
extern uint16_t baro_MS5534A_temp;
|
||||
extern bool_t alt_baro_enabled;
|
||||
extern bool alt_baro_enabled;
|
||||
extern uint32_t baro_MS5534A_ground_pressure;
|
||||
extern float baro_MS5534A_r;
|
||||
extern float baro_MS5534A_sigma2;
|
||||
|
||||
@@ -27,8 +27,8 @@
|
||||
#include "mcu_periph/i2c.h"
|
||||
|
||||
|
||||
bool_t i2c_idle(struct i2c_periph *p __attribute__((unused))) { return TRUE; }
|
||||
bool_t i2c_submit(struct i2c_periph *p __attribute__((unused)), struct i2c_transaction *t __attribute__((unused))) { return TRUE;}
|
||||
bool i2c_idle(struct i2c_periph *p __attribute__((unused))) { return true; }
|
||||
bool i2c_submit(struct i2c_periph *p __attribute__((unused)), struct i2c_transaction *t __attribute__((unused))) { return true;}
|
||||
void i2c_event(void) { }
|
||||
void i2c2_setbitrate(int bitrate __attribute__((unused))) { }
|
||||
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user