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sim builds with all supported IMUs

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This commit is contained in:
Antoine Drouin
2010-08-24 22:45:58 +00:00
parent 464fce3644
commit bf27695dcd
5 changed files with 39 additions and 9 deletions
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conf/airframes/Poine/booz2_a7.xml
+31 -8
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@@ -16,6 +16,12 @@
<axis name="THRUST" failsafe_value="0"/>
</commands>
<!-- for the sim -->
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
<define name="NB" value="4"/>
<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
</section>
<section name="SUPERVISION" prefix="SUPERVISION_">
<define name="MIN_MOTOR" value="3"/>
@@ -64,8 +70,8 @@
<section name="AUTOPILOT">
<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/>
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
</section>
<section name="BAT">
@@ -132,7 +138,8 @@
</section>
<section name="INS" prefix="BOOZ_INS_">
<define name="BARO_SENS" value="15." integer="16"/>
<!-- <define name="BARO_SENS" value="15." integer="16"/> -->
<define name="BARO_SENS" value="10." integer="16"/>
</section>
<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
@@ -162,17 +169,33 @@
<define name="BOOZ2_FACE_REINJ_1" value="1024"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
<!-- -->
<modules main_freq="512">
<load name="vehicle_interface_datalink.xml"/>
</modules>
<!-- -->
<firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.0"/>
<subsystem name="radio_control" type="spektrum">
<param name="RADIO_CONTROL_SPEKTRUM_MODEL"
<target name="ap" board="lisa_l_1.0">
<!-- <define name="BOOZ_START_DELAY" value="1"/> -->
<subsystem name="radio_control" type="spektrum">
<param name="RADIO_CONTROL_SPEKTRUM_MODEL"
value="\\\"booz/radio_control/booz_radio_control_spektrum_dx7se.h\\\""/>
</subsystem>
<subsystem name="actuators" type="asctec"/>
</subsystem>
<subsystem name="actuators" type="asctec"/>
</target>
<target name="sim" board="pc">
<subsystem name="simulator" type="nps"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
</target>
<subsystem name="imu" type="b2_v1.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="ahrs" type="cmpl"/>