Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-04 05:42:49 +08:00
Code Issues Actions 28 Packages Projects Releases Wiki Activity

[modules] Added gimbal control for PX4

Browse Source 
closes #1592
This commit is contained in:
kevindehecker
2016-03-31 22:17:50 +02:00
committed by Felix Ruess
parent d144a735a6
commit c3cf920c18
5 changed files with 104 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/TUDELFT/tudelft_conf.xml
+1 -1
View File
@@ -117,7 +117,7 @@
telemetry="telemetry/default_rotorcraft_slow.xml"
flight_plan="flight_plans/TUDELFT/tudelft_delft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml [settings/control/stabilization_att_int_quat.xml] settings/control/stabilization_indi.xml settings/estimation/body_to_imu.xml"
settings_modules="modules/geo_mag.xml modules/air_data.xml modules/gps_ubx_ucenter.xml"
settings_modules="modules/geo_mag.xml [modules/air_data.xml] modules/gps_ubx_ucenter.xml"
gui_color="#ffffcccaccca"
/>
<aircraft
conf/airframes/TUDELFT/tudelft_iris_indi.xml
+4
View File
@@ -40,6 +40,9 @@
<configure name="INTERMCU_PORT" value="UART6" />
<configure name="INTERMCU_BAUD" value="B1500000" /> <!-- This is only during first 10s start up, afterwards it is set to 230400-->
</subsystem>
<subsystem name="actuators" type="pwm"> <!-- gimbal and buzzer--->
<define name="SERVO_HZ" value="400" />
</subsystem>
</firmware>
<firmware name="rotorcraft">
<target name="fbw" board="px4io_2.4" />
@@ -80,6 +83,7 @@
</firmware>
<modules main_freq="512">
<load name="px4_flash.xml" />
<load name="px4_gimbal.xml" />
<load name="geo_mag.xml" />
<load name="air_data.xml" />
<load name="send_imu_mag_current.xml" />
conf/modules/px4_gimbal.xml
+19
View File
@@ -0,0 +1,19 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="px4_gimbal">
<doc>
<description>Control gimbal camera axis through px4 from rc</description>
<define name="PX4_GIMBAL_PWM_CHAN" value="0-5" description="PWM channel id gimbal output (default: 0)"/>
<define name="PX4_GIMBAL_RC_CHAN" value="0-7" description="Radio channel id gimbal input (default: RADIO_AUX2)"/>
<define name="PX4_GIMBAL_PWM_MIN" value="0-1024" description="Minimum pwm value (default: 900)"/>
<define name="PX4_GIMBAL_PWM_MAX" value="0-1024" description="Maximum pwm value (default: 1500)"/>
</doc>
<header>
<file name="px4_gimbal.h"/>
</header>
<periodic fun="px4_set_gimbal_angle_periodic()" start="px4_gimbal_init()" freq="100" autorun="TRUE"/>
<makefile>
<file name="px4_gimbal.c"/>
</makefile>
</module>