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made GPS_LED and AHRS_ALIGNER_LED parameters definied in the board files and overidable in makefiles

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This commit is contained in:
Antoine Drouin
2010-08-22 19:48:53 +00:00
parent 17bda9de37
commit c9622c9c94
8 changed files with 140 additions and 105 deletions
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conf/airframes/Poine/booz2_a1.xml
+3 -4
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@@ -40,18 +40,17 @@
<define name="GYRO_P_NEUTRAL" value="33924"/>
<define name="GYRO_Q_NEUTRAL" value="33417"/>
<define name="GYRO_R_NEUTRAL" value="32809"/>
<define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
<define name="GYRO_Q_SENS" value=" 1.01" integer="16"/>
<define name="GYRO_R_SENS" value=" 1.01" 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="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"/>
conf/airframes/Poine/booz2_a7.xml
+3 -3
View File
@@ -33,9 +33,9 @@
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_NEUTRAL" value="31948"/>
<define name="GYRO_Q_NEUTRAL" value="31834"/>
<define name="GYRO_R_NEUTRAL" value="32687"/>
<define name="GYRO_P_NEUTRAL" value="32858"/>
<define name="GYRO_Q_NEUTRAL" value="33152"/>
<define name="GYRO_R_NEUTRAL" value="31779"/>
<define name="GYRO_P_SENS" value=" 1.101357422" integer="16"/>
<define name="GYRO_Q_SENS" value=" 1.122670898" integer="16"/>
<define name="GYRO_R_SENS" value=" 1.104890137" integer="16"/>
conf/airframes/booz2_ppzuav.xml
+114 -91
View File
@@ -1,10 +1,18 @@
<airframe name="BOOZ2_A2">
<airframe name="BOOZ2_PpzUav_011">
<servos min="0" neutral="0" max="0xff">
<servo name="PITCH" no="0" min="0" neutral="0" max="255"/>
<servo name="ROLL" no="1" min="0" neutral="0" max="255"/>
<servo name="YAW" no="2" min="0" neutral="0" max="255"/>
<servo name="THRUST" no="3" min="0" neutral="0" max="255"/>
<!-- BOOZ2_PpzUav011
BOOZ2_MAIN_011 main board
BOOZ2_IMU_011 IMU
BOOZ2_GPS_011 LEA-5H GPS
Datamodems configured for 57600 baud
Asctec Speed Controllers
-->
<servos min="0" neutral="0" max="0xff">
<servo name="FRONT" no="3" min="0" neutral="0" max="255"/>
<servo name="BACK" no="0" min="0" neutral="0" max="255"/>
<servo name="RIGHT" no="1" min="0" neutral="0" max="255"/>
<servo name="LEFT" no="2" min="0" neutral="0" max="255"/>
</servos>
<commands>
@@ -14,18 +22,18 @@
<axis name="THRUST" failsafe_value="0"/>
</commands>
<section name="IMU" prefix="IMU_">
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_CHAN" value="1"/>
<define name="GYRO_Q_CHAN" value="0"/>
<define name="GYRO_R_CHAN" value="2"/>
<define name="GYRO_P_NEUTRAL" value="32220"/>
<define name="GYRO_Q_NEUTRAL" value="31620"/>
<define name="GYRO_R_NEUTRAL" value="32000"/>
<define name="GYRO_P_NEUTRAL" value="31675"/>
<define name="GYRO_Q_NEUTRAL" value="31650"/>
<define name="GYRO_R_NEUTRAL" value="31475"/>
<define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
<define name="GYRO_Q_SENS" value="-1.01" integer="16"/>
<define name="GYRO_P_SENS" value=" -1.01" integer="16"/>
<define name="GYRO_Q_SENS" value="1.01" integer="16"/>
<define name="GYRO_R_SENS" value="-1.01" integer="16"/>
@@ -33,51 +41,63 @@
<define name="ACCEL_Y_CHAN" value="3"/>
<define name="ACCEL_Z_CHAN" value="4"/>
<define name="ACCEL_X_NEUTRAL" value="32610"/>
<define name="ACCEL_Y_NEUTRAL" value="32891"/>
<define name="ACCEL_Z_NEUTRAL" value="32373"/>
<define name="ACCEL_X_NEUTRAL" value="33026"/>
<define name="ACCEL_Y_NEUTRAL" value="32976"/>
<define name="ACCEL_Z_NEUTRAL" value="32329"/>
<define name="ACCEL_X_SENS" value="-2.5922049353" integer="16"/>
<define name="ACCEL_Y_SENS" value="-2.55839088796" integer="16"/>
<define name="ACCEL_Z_SENS" value="-2.56970688984" integer="16"/>
<define name="ACCEL_X_SENS" value="2.52976874461" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.5581570391" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.5247740245" integer="16"/>
<define name="MAG_X_CHAN" value="0"/>
<define name="MAG_Y_CHAN" value="1"/>
<define name="MAG_Z_CHAN" value="2"/>
<define name="MAG_X_NEUTRAL" value="-20"/>
<define name="MAG_Y_NEUTRAL" value="11"/>
<define name="MAG_Z_NEUTRAL" value="-15"/>
<define name="MAG_X_SENS" value="5.25214038933" integer="16"/>
<define name="MAG_Y_SENS" value="5.5771208609" integer="16"/>
<define name="MAG_Z_SENS" value="2.63954806011" integer="16"/>
<define name="MAG_X_SENS" value="5.21841333202" integer="16"/>
<define name="MAG_Y_SENS" value="-5.28784022883" integer="16"/>
<define name="MAG_Z_SENS" value="-2.92595913244" integer="16"/>
<define name="MAG_X_NEUTRAL" value="18"/>
<define name="MAG_Y_NEUTRAL" value="5"/>
<define name="MAG_Z_NEUTRAL" value="192"/>
<define name="BODY_TO_IMU_PHI" value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))"/>
<define name="BODY_TO_IMU_THETA" value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))"/>
<define name="BODY_TO_IMU_PSI" value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))"/>
<define name="BODY_TO_IMU_PHI" value="RadOfDeg(0.)"/>
<define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)"/>
<define name="BODY_TO_IMU_PSI" value="RadOfDeg(-90.)"/>
</section>
<section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
<!-- setpoints -->
<define name="SP_MAX_P" value="10000" />
<define name="SP_MAX_Q" value="10000" />
<define name="SP_MAX_R" value="10000" />
<define name="DEADBAND_P" value="0" />
<define name="DEADBAND_Q" value="0" />
<define name="DEADBAND_R" value="200" />
<define name="REF_TAU" value="4" />
<section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
<!-- feedback -->
<define name="GAIN_P" value="-400" />
<define name="GAIN_Q" value="-400" />
<define name="GAIN_R" value="-350" />
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="IGAIN_P" value="-75" />
<define name="IGAIN_Q" value="-75" />
<define name="IGAIN_R" value="-50" />
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
</section>
<!-- feedforward -->
<define name="DDGAIN_P" value="300" />
<define name="DDGAIN_Q" value="300" />
<define name="DDGAIN_R" value="300" />
</section>
<section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
<define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
<define name="SP_MAX_R" value="RadOfDeg(90.)"/>
<define name="SP_MAX_R" value="RadOfDeg(180.)"/><!-- Maximum speed in deg/s-->
<define name="DEADBAND_R" value="250"/>
<!-- reference -->
@@ -97,8 +117,7 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<!--
<!--
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
@@ -112,13 +131,13 @@
<define name="PSI_IGAIN" value="-75"/>
-->
<define name="PHI_PGAIN" value="-2000"/>
<define name="PHI_DGAIN" value="-400"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="-1000"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="-2000"/>
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="-1000"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="PSI_PGAIN" value="-1000"/>
<define name="PSI_DGAIN" value="-350"/>
@@ -131,77 +150,81 @@
</section>
<section name="SUPERVISION" prefix="SUPERVISION_">
<define name="TRIM_A" value="0"/>
<define name="TRIM_E" value="6"/>
<define name="TRIM_R" value="0"/>
</section>
<section name="INS" prefix="BOOZ_INS_">
<define name="BARO_SENS" value="14.9" integer="16"/>
</section>
<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
<section name="SUPERVISION" prefix="SUPERVISION_">
<define name="MIN_MOTOR" value="2" />
<define name="MAX_MOTOR" value="210" />
<define name="TRIM_A" value="0" />
<define name="TRIM_E" value="0" />
<define name="TRIM_R" value="0" />
<define name="NB_MOTOR" value="4" />
<define name="SCALE" value="256"/>
<define name="ROLL_COEF" value="{ 0, 0, -256, 256}" />
<define name="PITCH_COEF" value="{ 256, -256, 0, 0}" />
<define name="YAW_COEF" value="{ 256, 256, -256, -256}" />
<define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/>
</section>
<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="-500"/>
<define name="HOVER_KD" value="-250"/>
<define name="HOVER_KI" value="-100"/>
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="REF_MIN_ZDD" value="-1.5*9.81"/>
<define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1.5"/>
<define name="HOVER_KP" value="-150"/>
<define name="HOVER_KD" value="-80"/>
<define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<!-- <define name="INV_M" value="0.118"/> -->
</section>
<section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
<section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
<define name="PGAIN" value="-50"/>
<define name="DGAIN" value="-60"/>
<define name="IGAIN" value="-15"/>
<define name="NGAIN" value="-0"/>
<define name="AGAIN" value="-0"/>
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="6.4" unit="V"/>
<define name="BATTERY_SENS" value="0.18" integer="16"/>
<!-- <define name="BATTERY_SENS" value="1" integer="16"/>-->
</section>
<section name="AUTOPILOT">
<define name="BOOZ2_MODE_MANUAL" 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"/>
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_HOVER_Z_HOLD"/>
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_NAV"/>
</section>
<section name="INS" prefix="BOOZ_INS_">
<define name="BARO_SENS" value="14.9" integer="16"/>
</section>
<section name="MISC">
<define name="BOOZ2_FACE_REINJ_1" value="1024"/>
</section>
<makefile>
ARCH=lpc21
BOARD_CFG = \"boards/booz2_v1_0.h\"
# prevents motors from ever starting
#ap.CFLAGS += -DKILL_MOTORS
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
include $(CFG_BOOZ)/booz2_autopilot.makefile
include $(CFG_BOOZ)/booz2_test_progs.makefile
#ap.CFLAGS += -DMODEM_BAUD=B38400
ap.CFLAGS += -DMODEM_BAUD=B57600
include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
include $(CFG_BOOZ)/subsystems/booz2_actuators_asctec.makefile
include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
</makefile>
<!-- FIRMWARE -->
<firmware name="rotorcraft">
<target name="ap" board="booz_1.0">
<param name="FLASH_MODE" value="IAP"/> <!-- default for the board but putting it here as example-->
</target>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="asctec"/>
<subsystem name="imu" type="b2v1_1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="ahrs" type="cmpl"/>
</firmware>
<firmware name="booz_test_progs">
<target name="test_telemetry" board="booz_1.0"/>
<target name="test_baro" board="booz_1.0"/>
</firmware>
</airframe>
conf/autopilot/subsystems/rotorcraft/ahrs_cmpl.makefile
+1 -1
View File
@@ -2,7 +2,7 @@
# Complementary filter for attitude estimation
#
ap.CFLAGS += -DUSE_AHRS_CMPL -DAHRS_ALIGNER_LED=3 -DBOOZ_AHRS_FIXED_POINT
ap.CFLAGS += -DUSE_AHRS_CMPL -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED) -DBOOZ_AHRS_FIXED_POINT
ap.srcs += $(SRC_BOOZ)/booz_ahrs.c
ap.srcs += $(SRC_BOOZ)/ahrs/booz_ahrs_aligner.c
ap.srcs += $(SRC_BOOZ)/ahrs/booz_ahrs_cmpl_euler.c
conf/autopilot/subsystems/rotorcraft/gps_ublox.makefile
+6 -5
View File
@@ -2,12 +2,13 @@
ap.srcs += $(SRC_BOOZ)/booz_gps.c
ap.CFLAGS += -DBOOZ_GPS_TYPE_H=\"gps/booz_gps_ubx.h\"
ap.srcs += $(SRC_BOOZ)/gps/booz_gps_ubx.c
ap.CFLAGS += -DUSE_$(GPS_PORT) -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
ap.CFLAGS += -DUSE_GPS -DGPS_LINK=$(GPS_PORT) -DGPS_LED=$(GPS_LED)
ifeq ($(ARCHI), arm7)
ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400 -DUART0_VIC_SLOT=5
ap.CFLAGS += -DUSE_GPS -DGPS_LINK=Uart0 -DGPS_LED=4
else ifeq ($(ARCHI), stm32)
ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400
ap.CFLAGS += -DUSE_GPS -DGPS_LINK=Uart1 -DGPS_LED=3
ap.CFLAGS += -D$(GPS_PORT)_VIC_SLOT=5
endif
sim.CFLAGS += -DUSE_GPS
sim.srcs += $(SRC_BOOZ)/booz_gps.c
conf/boards/booz_1.0.makefile
+7 -1
View File
@@ -19,10 +19,16 @@ endif
#
#
SYS_TIME_LED = 1
#SYS_TIME_LED = 1 # not used
RADIO_CONTROL_LED = 1
RADIO_CONTROL_LINK = UART0
MODEM_PORT = UART1
MODEM_BAUD = B57600
AHRS_ALIGNER_LED = 3
GPS_PORT=UART0
GPS_BAUD=B38400
GPS_LED=4
conf/boards/lisa_l_1.0.makefile
+5
View File
@@ -27,3 +27,8 @@ RADIO_CONTROL_LINK = UART3
MODEM_PORT=UART2
MODEM_BAUD=B57600
AHRS_ALIGNER_LED = 7
GPS_PORT=UART1
GPS_BAUD=B38400
GPS_LED = 3
sw/airborne/booz/booz2_main.c
+1
View File
@@ -41,6 +41,7 @@
#include "booz_imu.h"
#include "booz_gps.h"
#include "booz/booz2_analog.h"
#include "rotorcraft/baro.h"
#include "booz2_battery.h"