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This commit is contained in:
Antoine Drouin
2008-12-26 20:42:27 +00:00
parent b80fd9ffae
commit c785686932
6 changed files with 104 additions and 29 deletions
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conf/airframes/booz2_a1.xml
+3 -2
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@@ -1,4 +1,4 @@
<airframe name="BOOZ2_flixr">
<airframe name="BOOZ2_a1">
<servos min="0" neutral="0" max="0xff">
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
@@ -138,6 +138,8 @@
# prevents motors from ever starting
#ap.CFLAGS += -DKILL_MOTORS
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_simulator.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_actuators_buss.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_imu_b2v1.makefile
@@ -145,7 +147,6 @@ include $(PAPARAZZI_SRC)/conf/autopilot/booz2_autopilot.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_test_progs.makefile
sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a1.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_simulator.makefile
</makefile>
conf/autopilot/booz2_actuators_buss.makefile
+16 -1
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@@ -1,7 +1,22 @@
#
# Booz2 Mikrokopter Actuators
#
# mikrokopter controllers
#
# required xml:
# <section name="BUSS_BLMC" prefix="BUSS_BLMC_">
# <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
# </section>
#
# <section name="SUPERVISION" prefix="SUPERVISION_">
# <define name="FRONT_ROTOR_CW" value="1"/>
# <define name="TRIM_A" value="2"/>
# <define name="TRIM_E" value="-1"/>
# <define name="TRIM_R" value="3"/>
# </section>
#
#
#
ap.CFLAGS += -DACTUATORS=\"actuators_buss_twi_blmc_hw.h\" -DUSE_BUSS_TWI_BLMC
ap.srcs += $(BOOZ_PRIV_ARCH)/actuators_buss_twi_blmc_hw.c actuators.c
# on I2C0
conf/autopilot/booz2_imu_b2v1.makefile
+63
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@@ -1,3 +1,53 @@
#
# Booz2 IMU booz2v1
#
#
# required xml:
# <section name="IMU" prefix="IMU_">
#
# <define name="GYRO_X_CHAN" value="1"/>
# <define name="GYRO_Y_CHAN" value="0"/>
# <define name="GYRO_Z_CHAN" value="2"/>
#
# <define name="GYRO_X_NEUTRAL" value="33924"/>
# <define name="GYRO_Y_NEUTRAL" value="33417"/>
# <define name="GYRO_Z_NEUTRAL" value="32809"/>
#
# <define name="GYRO_X_SENS" value=" 1.01" integer="16"/>
# <define name="GYRO_Y_SENS" value="-1.01" integer="16"/>
# <define name="GYRO_Z_SENS" value="-1.01" integer="16"/>
#
# <define name="ACCEL_X_CHAN" value="3"/>
# <define name="ACCEL_Y_CHAN" value="5"/>
# <define name="ACCEL_Z_CHAN" value="6"/>
#
# <define name="ACCEL_X_SENS" value="-2.50411474" integer="16"/>
# <define name="ACCEL_Y_SENS" value="-2.48126183" integer="16"/>
# <define name="ACCEL_Z_SENS" value="-2.51396167" integer="16"/>
#
# <define name="ACCEL_X_NEUTRAL" value="32081"/>
# <define name="ACCEL_Y_NEUTRAL" value="33738"/>
# <define name="ACCEL_Z_NEUTRAL" value="32441"/>
#
# <define name="MAG_X_CHAN" value="4"/>
# <define name="MAG_Y_CHAN" value="0"/>
# <define name="MAG_Z_CHAN" value="2"/>
#
# <define name="MAG_X_NEUTRAL" value="2358"/>
# <define name="MAG_Y_NEUTRAL" value="2362"/>
# <define name="MAG_Z_NEUTRAL" value="2119"/>
#
#<!-- <define name="MAG_X_SENS" value="-4.94075530" integer="16"/>
# <define name="MAG_Y_SENS" value="5.10207664" integer="16"/> * sqrt(2)/2 -->
# <define name="MAG_X_SENS" value="-3.4936416" integer="16"/>
# <define name="MAG_Y_SENS" value=" 3.607713" integer="16"/>
# <define name="MAG_Z_SENS" value="-4.90788848" integer="16"/>
# <define name="MAG_45_HACK" value="1"/>
#
# </section>
#
#
# imu Booz2 v1
ap.CFLAGS += -DBOOZ2_IMU_TYPE=\"booz2_imu_b2.h\"
ap.CFLAGS += -DSSP_VIC_SLOT=9
@@ -10,3 +60,16 @@ ap.CFLAGS += -DUSE_AMI601
ap.srcs += AMI601.c
ap.CFLAGS += -DFLOAT_T=float
ap.srcs += $(BOOZ_PRIV)/booz2_imu.c
sim.CFLAGS += -DBOOZ2_IMU_TYPE=\"booz2_imu_b2.h\"
sim.srcs += $(BOOZ_PRIV)/booz2_imu.c \
$(BOOZ_PRIV)/booz2_imu_b2.c \
$(BOOZ_PRIV_SIM)/booz2_imu_b2_hw.c \
$(BOOZ_PRIV)/booz2_max1168.c \
$(BOOZ_PRIV_SIM)/booz2_max1168_sim.c
sim.CFLAGS += -DUSE_I2C1
# -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2C1_BUF_LEN=16
#sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
sim.CFLAGS += -DUSE_AMI601
sim.srcs += AMI601.c
conf/autopilot/booz2_simulator.makefile
+15 -19
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@@ -55,31 +55,27 @@ sim.srcs += commands.c
sim.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA -DRC_LED=1
sim.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
sim.CFLAGS += -DACTUATORS=\"actuators_buss_twi_blmc_hw.h\" -DUSE_BUSS_TWI_BLMC
sim.srcs += $(BOOZ_PRIV_SIM)/actuators_buss_twi_blmc_hw.c actuators.c
sim.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
sim.CFLAGS += -DBOOZ2_IMU_TYPE=\"booz2_imu_b2.h\"
sim.srcs += $(BOOZ_PRIV)/booz2_imu.c \
$(BOOZ_PRIV)/booz2_imu_b2.c \
$(BOOZ_PRIV_SIM)/booz2_imu_b2_hw.c \
$(BOOZ_PRIV)/booz2_max1168.c \
$(BOOZ_PRIV_SIM)/booz2_max1168_sim.c
sim.CFLAGS += -DUSE_I2C1
# -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2C1_BUF_LEN=16
#sim.CFLAGS += -DACTUATORS=\"actuators_buss_twi_blmc_hw.h\" -DUSE_BUSS_TWI_BLMC
#sim.srcs += $(BOOZ_PRIV_SIM)/actuators_buss_twi_blmc_hw.c actuators.c
#sim.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
#sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
sim.CFLAGS += -DUSE_AMI601
sim.srcs += AMI601.c
sim.CFLAGS += -DBOOZ2_ANALOG_BARO_LED=2 -DBOOZ2_ANALOG_BARO_PERIOD='SYS_TICS_OF_SEC((1./100.))'
sim.srcs += $(BOOZ_PRIV)/booz2_analog_baro.c
sim.CFLAGS += -DBOOZ2_ANALOG_BATTERY_PERIOD='SYS_TICS_OF_SEC((1./10.))'
sim.srcs += $(BOOZ_PRIV)/booz2_battery.c
sim.srcs += $(BOOZ_PRIV)/booz2_analog.c $(BOOZ_PRIV_SIM)/booz2_analog_hw.c
sim.srcs += $(BOOZ_PRIV)/booz2_gps.c
sim.srcs += $(BOOZ_PRIV)/booz2_autopilot.c
conf/flight_plans/booz_test_1.xml
+6 -6
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@@ -2,12 +2,12 @@
<flight_plan alt="250" ground_alt="0" lat0="48.8613611" lon0="1.8951388" max_dist_from_home="400" name="booz test 1" security_height="1">
<waypoints>
<waypoint alt="0.0" name="HOME" x="-18.2" y="-24.6"/>
<waypoint alt="0.0" name="D1" x="-0.6" y="0.0"/>
<waypoint alt="0.0" name="D2" x="-53.7" y="-45.6"/>
<waypoint alt="0.0" name="p1" x="-72.8" y="-70.0"/>
<waypoint alt="0.0" name="p2" x="-132.2" y="-118.5"/>
<waypoint alt="0.0" name="p3" x="-76.0" y="-137.9"/>
<waypoint alt="1.5" name="HOME" x="-18.2" y="-24.6"/>
<waypoint alt="1.5" name="D1" x="-0.6" y="0.0"/>
<waypoint alt="1.5" name="D2" x="-53.7" y="-45.6"/>
<waypoint alt="1.5" name="p1" x="-72.8" y="-70.0"/>
<waypoint alt="1.5" name="p2" x="-132.2" y="-118.5"/>
<waypoint alt="1.5" name="p3" x="-76.0" y="-137.9"/>
</waypoints>
<blocks>
<block name="stay_p1">
conf/settings/settings_booz2.xml
+1 -1
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@@ -6,7 +6,7 @@
<dl_settings NAME="Misc">
<dl_setting var="telemetry_mode_Main" min="0" step="1" max="9" module="booz2_telemetry" shortname="telemetry" values="Default|Raw sensors|Scaled sensors|Filter|Rate loop|Att loop|Vert loop|H loop|Aligner|HS_att_roll"/>
<dl_setting var="booz_fms_on" min="0" step="1" max="1" module="booz2_fms" shortname="fms_on" values="OFF|ON"/>
<dl_setting var="booz2_autopilot_mode_auto2" min="0" step="1" max="8" module="booz2_autopilot" shortname="auto2" values="Fail|Kill|Rate|Att|Rate_Z|Att_Z|Hover|Hover_Z|Nav"/>
<!-- <dl_setting var="booz2_autopilot_mode_auto2" min="0" step="1" max="8" module="booz2_autopilot" shortname="auto2" values="Fail|Kill|Rate|Att|Rate_Z|Att_Z|Hover|Hover_Z|Nav"/> -->
</dl_settings>
<dl_settings NAME="Rate Loop">