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[airframes] update ENAC airframes to use modules only

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This commit is contained in:
Gautier Hattenberger
2016-02-09 09:59:51 +01:00
parent 21c8e86c06
commit c9b2e4b158
19 changed files with 397 additions and 427 deletions
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conf/airframes/ENAC/fixed-wing/apogee.xml
+22 -24
View File
@@ -6,26 +6,13 @@
<airframe name="Apogee">
<modules>
<!--load name="sys_mon.xml"/-->
<!-- <load name="mcp355x.xml"> -->
<!-- <define name="USE_SPI1"/> -->
<!-- </load> -->
<!--load name="extra_dl.xml">
<configure name="EXTRA_DL_PORT" value="UART6"/>
<configure name="EXTRA_DL_BAUD" value="B57600"/>
</load>
<load name="meteo_france_DAQ.xml"/-->
<load name="flight_recorder.xml"/>
</modules>
<firmware name="fixedwing">
<target name="ap" board="apogee_1.0_chibios">
<subsystem name="radio_control" type="sbus"/>
<module name="radio_control" type="sbus"/>
<configure name="PERIODIC_FREQUENCY" value="100"/>
</target>
<target name="sim" board="pc">
<subsystem name="radio_control" type="ppm"/>
<module name="radio_control" type="ppm"/>
</target>
<define name="USE_I2C1"/>
@@ -35,19 +22,30 @@
<!--define name="PITCH_TRIM"/-->
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="sdlog"/>
<module name="telemetry" type="xbee_api"/>
<module name="sdlog"/>
<!-- Actuators are automatically chosen according to board-->
<subsystem name="imu" type="apogee"/>
<subsystem name="ahrs" type="float_dcm"/>
<subsystem name="ins" type="alt_float"/>
<subsystem name="control"/>
<subsystem name="navigation"/>
<module name="imu" type="apogee"/>
<module name="ahrs" type="float_dcm"/>
<module name="ins" type="alt_float"/>
<module name="control"/>
<module name="navigation"/>
<!-- Sensors -->
<subsystem name="gps" type="ublox"/>
<module name="gps" type="ublox"/>
<!--subsystem name="spi_master"/-->
<!--module name="sys_mon"/-->
<!--module name="spi_master"/-->
<!-- <module name="mcp355x"> -->
<!-- <define name="USE_SPI1"/> -->
<!-- </module> -->
<!--module name="extra_dl">
<configure name="EXTRA_DL_PORT" value="UART6"/>
<configure name="EXTRA_DL_BAUD" value="B57600"/>
</module>
<module name="meteo_france_DAQ"/-->
<module name="flight_recorder"/>
</firmware>
<!-- commands section -->
conf/airframes/ENAC/fixed-wing/crrcsim.xml
+23 -25
View File
@@ -10,17 +10,6 @@
<airframe name="Funjet II">
<modules>
<!--load name="light.xml">
<define name="LIGHT_LED_STROBE" value="5"/>
<define name="LIGHT_LED_NAV" value="3"/>
</load-->
<!--load name="baro_board.xml">
<define name="BARO_ABS_EVENT" value="BaroPbnUpdate"/>
</load-->
<load name="pbn.xml"/>
</modules>
<firmware name="fixedwing">
<define name="USE_I2C0"/>
<define name="USE_I2C1"/>
@@ -29,35 +18,44 @@
<define name="USE_AIRSPEED"/>
<target name="sim" board="pc">
<subsystem name="imu" type="umarim"/>
<module name="imu" type="umarim"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="crrcsim"/>
<subsystem name="imu" type="nps"/>
<module name="fdm" type="crrcsim"/>
<module name="imu" type="nps"/>
</target>
<target name="ap" board="umarim_lite_2.0">
<subsystem name="imu" type="umarim"/>
<module name="imu" type="umarim"/>
</target>
<subsystem name="radio_control" type="ppm"/>
<module name="radio_control" type="ppm"/>
<!-- Communication -->
<subsystem name="telemetry" type="transparent"/>
<module name="telemetry" type="transparent"/>
<!-- Actuators are automatically chosen according to board-->
<subsystem name="ahrs" type="float_dcm"/>
<subsystem name="ins" type="alt_float"/>
<subsystem name="control" type="new">
<module name="ahrs" type="float_dcm"/>
<module name="ins" type="alt_float"/>
<module name="control" type="new">
<define name="USE_GYRO_PITCH_RATE"/>
</subsystem>
</module>
<!-- Sensors -->
<subsystem name="gps" type="ublox"/>
<module name="gps" type="ublox"/>
<subsystem name="current_sensor">
<module name="current_sensor">
<configure name="ADC_CURRENT_SENSOR" value="ADC_0"/>
</subsystem>
</module>
<subsystem name="navigation"/>
<module name="navigation"/>
<!--module name="light">
<define name="LIGHT_LED_STROBE" value="5"/>
<define name="LIGHT_LED_NAV" value="3"/>
</module-->
<!--module name="baro_board">
<define name="BARO_ABS_EVENT" value="BaroPbnUpdate"/>
</module-->
<module name="pbn"/>
</firmware>
<servos>
conf/airframes/ENAC/fixed-wing/eternity1.xml
+10 -13
View File
@@ -10,9 +10,6 @@
<airframe name="Eternity 1">
<modules>
</modules>
<firmware name="fixedwing">
<target name="ap" board="umarim_lite_2.0"/>
<target name="sim" board="pc"/>
@@ -22,17 +19,17 @@
<define name="USE_I2C0"/>
<define name="USE_I2C1"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="imu" type="umarim"/>
<subsystem name="ahrs" type="float_dcm"/>
<subsystem name="ins" type="alt_float"/>
<subsystem name="control"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
<subsystem name="current_sensor">
<module name="radio_control" type="ppm"/>
<module name="telemetry" type="transparent"/>
<module name="imu" type="umarim"/>
<module name="ahrs" type="float_dcm"/>
<module name="ins" type="alt_float"/>
<module name="control"/>
<module name="gps" type="ublox"/>
<module name="navigation"/>
<module name="current_sensor">
<configure name="ADC_CURRENT_SENSOR" value="ADC_0"/>
</subsystem>
</module>
</firmware>
conf/airframes/ENAC/fixed-wing/firestorm.xml
+12 -15
View File
@@ -7,10 +7,6 @@
<airframe name="FireStorm">
<modules>
<load name="nav_poles.xml"/>
</modules>
<firmware name="fixedwing">
<define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/>
@@ -23,25 +19,26 @@
<define name="USE_I2C1"/>
</target>
<subsystem name="radio_control" type="ppm"/>
<module name="radio_control" type="ppm"/>
<!-- Communication -->
<subsystem name="telemetry" type="transparent">
<module name="telemetry" type="transparent">
<configure name="MODEM_BAUD" value="B57600"/>
</subsystem>
</module>
<!-- Actuators are automatically chosen according to board-->
<subsystem name="imu" type="umarim"/>
<subsystem name="ahrs" type="float_dcm"/>
<subsystem name="ins" type="alt_float"/>
<subsystem name="control" type="adaptive"/>
<subsystem name="navigation"/>
<module name="imu" type="umarim"/>
<module name="ahrs" type="float_dcm"/>
<module name="ins" type="alt_float"/>
<module name="control" type="adaptive"/>
<module name="navigation"/>
<module name="nav" type="poles"/>
<!-- Sensors -->
<subsystem name="gps" type="ublox"/>
<module name="gps" type="ublox"/>
<subsystem name="current_sensor">
<module name="current_sensor">
<configure name="ADC_CURRENT_SENSOR" value="ADC_0"/>
</subsystem>
</module>
</firmware>
<!-- commands section -->
conf/airframes/ENAC/fixed-wing/funjet2.xml
+25 -32
View File
@@ -10,62 +10,55 @@
<airframe name="Funjet II">
<firmware name="test_progs">
<target name="test_math_trig_compressed" board="apogee_1.0"/>
</firmware>
<modules>
<load name="mag_hmc58xx.xml">
<define name="MODULE_HMC58XX_UPDATE_AHRS"/>
<configure name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>
</load>
<!--load name="sys_mon.xml"/-->
<!--load name="light.xml">
<define name="LIGHT_LED_STROBE" value="5"/>
<define name="LIGHT_LED_NAV" value="3"/>
</load-->
<!--load name="pbn.xml"/-->
</modules>
<firmware name="fixedwing">
<configure name="PERIODIC_FREQUENCY" value="125"/>
<target name="ap" board="apogee_1.0">
<subsystem name="radio_control" type="sbus"/>
<module name="radio_control" type="sbus"/>
</target>
<target name="sim" board="pc">
<subsystem name="radio_control" type="ppm"/>
<module name="radio_control" type="ppm"/>
</target>
<!-- Communication -->
<subsystem name="telemetry" type="transparent"/>
<module name="telemetry" type="transparent"/>
<!-- Actuators are automatically chosen according to board-->
<subsystem name="imu" type="apogee">
<module name="imu" type="apogee">
<!--define name="USE_MAGNETOMETER"/-->
<define name="APOGEE_LOWPASS_FILTER" value="MPU60X0_DLPF_20HZ"/>
<define name="APOGEE_SMPLRT_DIV" value="7"/>
</subsystem>
<!--subsystem name="ins" type="float_invariant">
</module>
<!--module name="ins" type="float_invariant">
<configure name="AHRS_PROPAGATE_FREQUENCY" value="125"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="125"/>
<define name="BARO_BOARD_APOGEE_FREQ" value="50"/>
<define name="MPL3115_OVERSAMPLING" value="2"/>
</subsystem-->
<subsystem name="ahrs" type="float_dcm"/>
<subsystem name="ins" type="alt_float"/>
<subsystem name="control" type="new"/>
<subsystem name="navigation"/>
</module-->
<module name="ahrs" type="float_dcm"/>
<module name="ins" type="alt_float"/>
<module name="control" type="new"/>
<module name="navigation"/>
<!-- Sensors -->
<subsystem name="gps" type="ublox">
<module name="gps" type="ublox">
<configure name="GPS_BAUD" value="B57600"/>
</subsystem>
</module>
<subsystem name="current_sensor">
<module name="current_sensor">
<configure name="ADC_CURRENT_SENSOR" value="ADC_1"/>
</subsystem>
</module>
<module name="mag" type="hmc58xx">
<define name="MODULE_HMC58XX_UPDATE_AHRS"/>
<configure name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>
</module>
<!--module name="sys_mon"/-->
<!--module name="light">
<define name="LIGHT_LED_STROBE" value="5"/>
<define name="LIGHT_LED_NAV" value="3"/>
</module-->
<!--module name="pbn"/-->
</firmware>
<!-- commands section -->
conf/airframes/ENAC/fixed-wing/jp.xml
+29 -32
View File
@@ -2,73 +2,70 @@
<airframe name="JP">
<modules>
<load name="mag_hmc58xx.xml">
<define name="MODULE_HMC58XX_UPDATE_AHRS"/>
<configure name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>
</load>
<load name="airspeed_adc.xml">
<configure name="ADC_AIRSPEED" value="ADC_1"/>
<define name="AIRSPEED_ADC_QUADRATIC_SCALE" value="0.5"/>
<define name="AIRSPEED_ADC_BIAS" value="430"/>
</load>
<load name="gps_ubx_ucenter.xml"/>
<!--load name="sys_mon.xml"/-->
</modules>
<firmware name="fixedwing">
<define name="USE_I2C1"/>
<configure name="PERIODIC_FREQUENCY" value="125"/>
<target name="ap" board="apogee_1.0_chibios">
<subsystem name="ins" type="float_invariant">
<module name="ins" type="float_invariant">
<configure name="AHRS_PROPAGATE_FREQUENCY" value="125"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="125"/>
<define name="BARO_BOARD_APOGEE_FREQ" value="50"/>
<define name="MPL3115_OVERSAMPLING" value="2"/>
</subsystem>
</module>
</target>
<target name="sim" board="pc">
<subsystem name="ahrs" type="float_dcm"/>
<subsystem name="ins" type="alt_float"/>
<module name="ahrs" type="float_dcm"/>
<module name="ins" type="alt_float"/>
</target>
<target name="nps" board="pc">
<!-- Note NPS needs the ppm type radio_control subsystem -->
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="ins" type="float_invariant">
<!-- Note NPS needs the ppm type radio_control module -->
<module name="fdm" type="jsbsim"/>
<module name="ins" type="float_invariant">
<configure name="AHRS_PROPAGATE_FREQUENCY" value="125"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="125"/>
<define name="BARO_BOARD_APOGEE_FREQ" value="50"/>
<define name="MPL3115_OVERSAMPLING" value="2"/>
<define name="SEND_INVARIANT_FILTER"/>
</subsystem>
</module>
</target>
<subsystem name="radio_control" type="ppm"/>
<module name="radio_control" type="ppm"/>
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api"/>
<module name="telemetry" type="xbee_api"/>
<!-- Actuators are automatically chosen according to board-->
<subsystem name="imu" type="apogee">
<module name="imu" type="apogee">
<define name="USE_MAGNETOMETER"/>
<define name="APOGEE_LOWPASS_FILTER" value="MPU60X0_DLPF_20HZ"/>
<define name="APOGEE_SMPLRT_DIV" value="7"/>
</subsystem>
<subsystem name="control" type="new"/>
<subsystem name="navigation"/>
</module>
<module name="mag" type="hmc58xx">
<define name="MODULE_HMC58XX_UPDATE_AHRS"/>
<configure name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>
</module>
<module name="airspeed" type="adc">
<configure name="ADC_AIRSPEED" value="ADC_1"/>
<define name="AIRSPEED_ADC_QUADRATIC_SCALE" value="0.5"/>
<define name="AIRSPEED_ADC_BIAS" value="430"/>
</module>
<module name="control" type="new"/>
<module name="navigation"/>
<!-- Sensors -->
<subsystem name="gps" type="ublox">
<module name="gps" type="ublox">
<configure name="GPS_BAUD" value="B115200"/>
<define name="GPS_UBX_UCENTER_RATE" value="200"/>
<define name="USE_GPS_UBX_RXM_RAW"/>
<define name="USE_GPS_UBX_RXM_SFRB"/>
<define name="LOG_RAW_GPS"/>
</subsystem>
</module>
<module name="gps" type="ubx_ucenter"/>
<subsystem name="current_sensor">
<module name="current_sensor">
<configure name="ADC_CURRENT_SENSOR" value="ADC_2"/>
</subsystem>
</module>
<!--module name="sys_mon"/-->
</firmware>
<!-- commands section -->
conf/airframes/ENAC/fixed-wing/merlin.xml
+11 -11
View File
@@ -15,23 +15,23 @@
<target name="ap" board="tiny_2.11"/>
<target name="sim" board="pc"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="ins" type="alt_float"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
<module name="radio_control" type="ppm"/>
<module name="telemetry" type="transparent"/>
<module name="control"/>
<module name="infrared" type="adc"/>
<module name="ahrs" type="infrared"/>
<!--module name="ins" type="vn100"/-->
<module name="ins" type="alt_float"/>
<module name="gps" type="ublox"/>
<module name="navigation"/>
<!--subsystem name="spi">
<!--module name="spi">
<define name="USE_SPI_SLAVE0"/>
<define name="USE_SPI1"/>
</subsystem-->
</module-->
</firmware>
<modules>
<load name="infrared_adc.xml"/>
<load name="ahrs_infrared.xml"/>
<!--load name="ins_vn100.xml"/-->
</modules>
<!-- commands section -->
conf/airframes/ENAC/fixed-wing/mythe.xml
+41 -43
View File
@@ -8,37 +8,6 @@
<airframe name="Funjet">
<modules>
<load name="airspeed_adc.xml">
<configure name="ADC_AIRSPEED" value="ADC_0"/>
<define name="AIRSPEED_ADC_QUADRATIC_SCALE" value="1.09378"/>
<define name="AIRSPEED_ADC_BIAS" value="110"/>
</load>
<load name="AOA_adc.xml">
<configure name="ADC_AOA" value="ADC_2"/>
</load>
<!--load name="adc_generic.xml">
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_2"/>
</load-->
<!--load name="baro_hca.xml">
<define name="I2C0_SCLL" value="25"/>
<define name="I2C0_SCLH" value="25"/>
</load-->
<!--load name="baro_bmp.xml">
<configure name="BMP_I2C_DEV" value="i2c1"/>
</load-->
<!--load name="baro_ms5611_i2c.xml">
<configure name="MS5611_I2C_DEV" value="i2c0"/>
</load-->
<!--load name="baro_mpl3115.xml">
<configure name="MPL3115_I2C_DEV" value="i2c0"/>
<define name="SENSOR_SYNC_SEND"/>
</load-->
<!--load name="airspeed_ads1114.xml"/-->
<!--load name="mcp355x.xml"/-->
<!--load name="sys_mon.xml"/-->
</modules>
<firmware name="fixedwing">
<!--define name="AGR_CLIMB"/-->
<define name="USE_AIRSPEED"/>
@@ -49,30 +18,59 @@
<target name="sim" board="pc"/>
<target name="ap" board="umarim_1.0"/>
<subsystem name="radio_control" type="ppm">
<module name="radio_control" type="ppm">
<define name="USE_PPM_RSSI_GPIO"/>
<define name="PPM_RSSI_IOPIN" value="IO0PIN"/>
<define name="PPM_RSSI_PIN" value="10"/>
<define name="PPM_RSSI_VALID_LEVEL" value="0"/>
</subsystem>
</module>
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api"/>
<module name="telemetry" type="xbee_api"/>
<module name="airspeed" type="adc">
<configure name="ADC_AIRSPEED" value="ADC_0"/>
<define name="AIRSPEED_ADC_QUADRATIC_SCALE" value="1.09378"/>
<define name="AIRSPEED_ADC_BIAS" value="110"/>
</module>
<!--module name="airspeed" type="ads1114"/-->
<module name="AOA" type="adc">
<configure name="ADC_AOA" value="ADC_2"/>
</module>
<!--module name="adc" type="generic">
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_2"/>
</module-->
<!--module name="baro" type="hca">
<define name="I2C0_SCLL" value="25"/>
<define name="I2C0_SCLH" value="25"/>
</module-->
<!--module name="baro" type="bmp">
<configure name="BMP_I2C_DEV" value="i2c1"/>
</module-->
<!--module name="baro" type="ms5611_i2c">
<configure name="MS5611_I2C_DEV" value="i2c0"/>
</module-->
<!--module name="baro" type="mpl3115">
<configure name="MPL3115_I2C_DEV" value="i2c0"/>
<define name="SENSOR_SYNC_SEND"/>
</module-->
<!--module name="mcp355x"/-->
<!--module name="sys_mon"/-->
<!-- Actuators are automatically chosen according to board-->
<subsystem name="imu" type="umarim"/>
<subsystem name="ahrs" type="float_dcm"/>
<subsystem name="ins" type="alt_float"/>
<subsystem name="control" type="new"/>
<subsystem name="navigation"/>
<module name="imu" type="umarim"/>
<module name="ahrs" type="float_dcm"/>
<module name="ins" type="alt_float"/>
<module name="control" type="new"/>
<module name="navigation"/>
<!-- Sensors -->
<subsystem name="gps" type="ublox"/>
<module name="gps" type="ublox"/>
<subsystem name="current_sensor">
<module name="current_sensor">
<configure name="ADC_CURRENT_SENSOR" value="ADC_1"/>
</subsystem>
</module>
<!--subsystem name="spi"/-->
<!--module name="spi"/-->
</firmware>
<!-- commands section -->
conf/airframes/ENAC/fixed-wing/quark1.xml
+9 -12
View File
@@ -2,10 +2,6 @@
<airframe name="Quark">
<modules>
<load name="gps_ubx_ucenter.xml"/>
</modules>
<firmware name="fixedwing">
<define name="USE_I2C0"/>
<define name="USE_I2C1"/>
@@ -20,19 +16,20 @@
<target name="sim" board="pc"/>
<target name="ap" board="umarim_lite_2.0"/>
<subsystem name="radio_control" type="datalink"/>
<module name="radio_control" type="datalink"/>
<!-- Communication -->
<subsystem name="telemetry" type="transparent"/>
<module name="telemetry" type="transparent"/>
<!-- Actuators are automatically chosen according to board-->
<subsystem name="imu" type="umarim"/>
<subsystem name="ahrs" type="float_dcm"/>
<subsystem name="ins" type="alt_float"/>
<subsystem name="control" type="new"/>
<subsystem name="navigation"/>
<module name="imu" type="umarim"/>
<module name="ahrs" type="float_dcm"/>
<module name="ins" type="alt_float"/>
<module name="control" type="new"/>
<module name="navigation"/>
<!-- Sensors -->
<subsystem name="gps" type="ublox"/>
<module name="gps" type="ublox"/>
<module name="gps" type="ubx_ucenter"/>
</firmware>
conf/airframes/ENAC/fixed-wing/twinjet2.xml
+9 -12
View File
@@ -7,24 +7,21 @@
<airframe name="Black Cat">
<modules>
<load name="light.xml"/>
</modules>
<firmware name="fixedwing">
<define name="PITCH_TRIM"/>
<target name="ap" board="tiny_2.11"/>
<target name="sim" board="pc"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="control" type="adaptive"/>
<subsystem name="imu" type="mpu9250_i2c"/>
<subsystem name="ahrs" type="float_dcm"/>
<subsystem name="ins" type="alt_float"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
<module name="radio_control" type="ppm"/>
<module name="telemetry" type="xbee_api"/>
<module name="control" type="adaptive"/>
<module name="imu" type="mpu9250_i2c"/>
<module name="ahrs" type="float_dcm"/>
<module name="ins" type="alt_float"/>
<module name="gps" type="ublox"/>
<module name="navigation"/>
<module name="light"/>
</firmware>
<firmware name="setup">
conf/airframes/ENAC/fixed-wing/weasel.xml
+13 -15
View File
@@ -10,11 +10,6 @@
<autopilot name="fixedwing_autopilot.xml"/>
<modules>
<!--load name="airspeed_ads1114.xml"/-->
<!--load name="mcp355x.xml"/-->
</modules>
<firmware name="fixedwing">
<define name="USE_I2C0"/>
<define name="USE_I2C1"/>
@@ -27,26 +22,29 @@
<target name="sim" board="pc"/>
<target name="ap" board="umarim_1.0"/>
<subsystem name="radio_control" type="ppm">
<module name="radio_control" type="ppm">
<define name="USE_PPM_RSSI_GPIO"/>
<define name="PPM_RSSI_IOPIN" value="IO0PIN"/>
<define name="PPM_RSSI_PIN" value="17"/>
<define name="PPM_RSSI_VALID_LEVEL" value="0"/>
</subsystem>
</module>
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api"/>
<module name="telemetry" type="xbee_api"/>
<!--module name="airspeed" type="ads1114"/-->
<!--module name="mcp355x"/-->
<!-- Actuators are automatically chosen according to board-->
<subsystem name="imu" type="umarim"/>
<subsystem name="ahrs" type="float_dcm"/>
<subsystem name="ins" type="alt_float"/>
<subsystem name="control" type="new"/>
<subsystem name="navigation"/>
<module name="imu" type="umarim"/>
<module name="ahrs" type="float_dcm"/>
<module name="ins" type="alt_float"/>
<module name="control" type="new"/>
<module name="navigation"/>
<!-- Sensors -->
<subsystem name="gps" type="ublox"/>
<module name="gps" type="ublox"/>
<!--subsystem name="spi"/-->
<!--module name="spi"/-->
</firmware>
<!-- commands section -->
conf/airframes/ENAC/quadrotor/ard2_base_digit.xml
+29 -29
View File
@@ -9,47 +9,47 @@
<define name="USE_SONAR"/>
<define name="USE_BARO_MEDIAN_FILTER"/>
<define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
<subsystem name="telemetry" type="transparent_udp"/>
<subsystem name="radio_control" type="datalink"/>
<module name="telemetry" type="transparent_udp"/>
<module name="radio_control" type="datalink"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="ppm"/>
</target>
<!-- Subsystem section -->
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="ardrone2"/>
<subsystem name="imu" type="ardrone2"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<!-- Subsystem section -->
<module name="motor_mixing"/>
<module name="actuators" type="ardrone2"/>
<module name="imu" type="ardrone2"/>
<module name="gps" type="ublox"/>
<!--module name="gps" type="ubx_ucenter"/-->
<module name="stabilization" type="int_quat"/>
<!-- AHRS + INS for indoor or outdoor -->
<!--subsystem name="ahrs" type="int_cmpl_euler"/>
<subsystem name="ins" type="extended"/-->
<!--module name="ahrs" type="int_cmpl_euler"/>
<module name="ins" type="extended"/-->
<!-- INS for outdoor only -->
<subsystem name="ins" type="float_invariant"/>
<module name="ins" type="float_invariant"/>
<module name="agl_dist">
<define name="USE_SONAR"/>
</module>
<module name="video_thread">
<define name="VIDEO_THREAD_CAMERA" value="front_camera"/>
</module>
<module name="video_rtp_stream">
<configure name="VIEWVIDEO_USE_NETCAT" value="FALSE"/>
</module>
<module name="rotorcraft_cam"/>
<module name="bat_voltage_ardrone2"/>
</firmware>
<modules main_freq="512">
<!--load name="gps_ubx_ucenter.xml"/-->
<load name="agl_dist.xml">
<define name="USE_SONAR"/>
</load>
<load name="video_thread.xml">
<define name="VIDEO_THREAD_CAMERA" value="front_camera"/>
</load>
<load name="video_rtp_stream.xml">
<configure name="VIEWVIDEO_USE_NETCAT" value="FALSE"/>
</load>
<load name="rotorcraft_cam.xml"/>
<load name="bat_voltage_ardrone2.xml"/>
</modules>
<modules main_freq="512"/>
<!-- include common control -->
<include href="conf/airframes/ENAC/quadrotor/ard2_base_control.xml"/>
<include href="conf/airframes/ENAC/quadrotor/ard2_base_control"/>
<!-- include arframe calibration -->
<include href="conf/airframes/ENAC/quadrotor/ard2_$AC_ID.xml"/>
<include href="conf/airframes/ENAC/quadrotor/ard2_$AC_ID"/>
<!-- local magnetic field -->
<!-- http://paparazzi.enac.fr/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
conf/airframes/ENAC/quadrotor/ard2_base_vision.xml
+25 -25
View File
@@ -9,49 +9,49 @@
<define name="USE_SONAR"/>
<define name="USE_BARO_MEDIAN_FILTER"/>
<define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
<subsystem name="telemetry" type="transparent_udp"/>
<subsystem name="radio_control" type="datalink"/>
<module name="telemetry" type="transparent_udp"/>
<module name="radio_control" type="datalink"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="ppm"/>
</target>
<!-- Subsystem section -->
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="ardrone2"/>
<subsystem name="imu" type="ardrone2"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<module name="motor_mixing"/>
<module name="actuators" type="ardrone2"/>
<module name="imu" type="ardrone2"/>
<module name="gps" type="ublox"/>
<!--module name="gps" type="ubx_ucenter"/-->
<module name="stabilization" type="int_quat"/>
<!-- AHRS + INS for indoor or outdoor -->
<!--subsystem name="ahrs" type="int_cmpl_euler"/>
<subsystem name="ins" type="extended"/-->
<!--module name="ahrs" type="int_cmpl_euler"/>
<module name="ins" type="extended"/-->
<!-- INS for outdoor only -->
<subsystem name="ins" type="float_invariant"/>
</firmware>
<module name="ins" type="float_invariant"/>
<modules main_freq="512">
<!--load name="gps_ubx_ucenter.xml"/-->
<load name="agl_dist.xml">
<module name="agl_dist">
<define name="USE_SONAR"/>
</load>
<load name="video_thread.xml">
</module>
<module name="video_thread">
<define name="VIDEO_THREAD_CAMERA" value="front_camera"/>
</load>
<load name="video_rtp_stream.xml">
</module>
<module name="video_rtp_stream">
<define name="VIDEO_SOCK_OUT_OFFSET" value="$(AC_ID)"/>
<define name="VIDEO_DOWNSIZE_FACTOR" value="2"/>
<define name="VIDEO_QUALITY_FACTOR" value="80"/>
<define name="VIDEO_FPS" value="1"/>
</load>
<load name="rotorcraft_cam.xml"/>
</modules>
</module>
<module name="rotorcraft_cam"/>
</firmware>
<modules main_freq="512"/>
<!-- include common control -->
<include href="conf/airframes/ENAC/quadrotor/ard2_base_control.xml"/>
<include href="conf/airframes/ENAC/quadrotor/ard2_base_control"/>
<!-- include arframe calibration -->
<include href="conf/airframes/ENAC/quadrotor/ard2_$AC_ID.xml"/>
<include href="conf/airframes/ENAC/quadrotor/ard2_$AC_ID"/>
<!-- local magnetic field -->
<!-- http://paparazzi.enac.fr/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
conf/airframes/ENAC/quadrotor/ard2_basic.xml
+19 -19
View File
@@ -9,38 +9,38 @@
<define name="USE_SONAR"/>
<define name="USE_BARO_MEDIAN_FILTER"/>
<define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
<subsystem name="telemetry" type="transparent_udp"/>
<subsystem name="radio_control" type="datalink"/>
<module name="telemetry" type="transparent_udp"/>
<module name="radio_control" type="datalink"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="ppm"/>
</target>
<!-- Subsystem section -->
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="ardrone2"/>
<subsystem name="imu" type="ardrone2"/>
<!--subsystem name="gps" type="piksi"/-->
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<module name="motor_mixing"/>
<module name="actuators" type="ardrone2"/>
<module name="imu" type="ardrone2"/>
<!--module name="gps" type="piksi"/-->
<module name="gps" type="ublox"/>
<!--module name="gps" type="ubx_ucenter"/-->
<module name="stabilization" type="int_quat"/>
<!-- AHRS + INS for indoor or outdoor -->
<subsystem name="ahrs" type="float_invariant"/>
<subsystem name="ins" type="extended"/>
<module name="ahrs" type="float_invariant"/>
<module name="ins" type="extended"/>
<!-- INS for outdoor only -->
<!--subsystem name="ins" type="float_invariant"/-->
<!--module name="ins" type="float_invariant"/-->
<module name="bat_voltage_ardrone2"/>
</firmware>
<modules main_freq="512">
<!--load name="gps_ubx_ucenter.xml"/-->
<load name="bat_voltage_ardrone2.xml"/>
</modules>
<modules main_freq="512"/>
<!-- include common control -->
<include href="conf/airframes/ENAC/quadrotor/ard2_base_control.xml"/>
<include href="conf/airframes/ENAC/quadrotor/ard2_base_control"/>
<!-- include arframe calibration -->
<include href="conf/airframes/ENAC/quadrotor/ard2_$AC_ID.xml"/>
<include href="conf/airframes/ENAC/quadrotor/ard2_$AC_ID"/>
<!-- local magnetic field -->
<!-- http://paparazzi.enac.fr/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
conf/airframes/ENAC/quadrotor/ard2_basic_adhoc.xml
+18 -18
View File
@@ -12,37 +12,37 @@
<define name="USE_SONAR"/>
<define name="USE_BARO_MEDIAN_FILTER"/>
<define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
<subsystem name="telemetry" type="transparent_udp"/>
<subsystem name="radio_control" type="datalink"/>
<module name="telemetry" type="transparent_udp"/>
<module name="radio_control" type="datalink"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="ppm"/>
</target>
<!-- Subsystem section -->
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="ardrone2"/>
<subsystem name="imu" type="ardrone2"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<module name="motor_mixing"/>
<module name="actuators" type="ardrone2"/>
<module name="imu" type="ardrone2"/>
<module name="gps" type="ublox"/>
<module name="gps" type="ubx_ucenter"/>
<module name="stabilization" type="int_quat"/>
<!-- AHRS + INS for indoor or outdoor -->
<!--subsystem name="ahrs" type="int_cmpl_euler"/>
<subsystem name="ins" type="extended"/-->
<!--module name="ahrs" type="int_cmpl_euler"/>
<module name="ins" type="extended"/-->
<!-- INS for outdoor only -->
<subsystem name="ins" type="float_invariant"/>
<module name="ins" type="float_invariant"/>
<module name="bat_voltage_ardrone2"/>
</firmware>
<modules main_freq="512">
<load name="gps_ubx_ucenter.xml"/>
<load name="bat_voltage_ardrone2.xml"/>
</modules>
<modules main_freq="512"/>
<!-- include common control -->
<include href="conf/airframes/ENAC/quadrotor/ard2_base_control.xml"/>
<include href="conf/airframes/ENAC/quadrotor/ard2_base_control"/>
<!-- include arframe calibration -->
<include href="conf/airframes/ENAC/quadrotor/ard2_$AC_ID.xml"/>
<include href="conf/airframes/ENAC/quadrotor/ard2_$AC_ID"/>
<!-- local magnetic field -->
<!-- http://paparazzi.enac.fr/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
conf/airframes/ENAC/quadrotor/bebop_201.xml
+22 -22
View File
@@ -5,37 +5,35 @@
<firmware name="rotorcraft">
<target name="ap" board="bebop">
<subsystem name="telemetry" type="transparent_udp"/>
<subsystem name="radio_control" type="datalink"/>
<module name="telemetry" type="transparent_udp"/>
<module name="radio_control" type="datalink"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="ppm"/>
</target>
<!--define name="USE_SONAR" value="TRUE"/-->
<!-- Subsystem section -->
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="bebop"/>
<subsystem name="imu" type="bebop"/>
<subsystem name="gps" type="furuno"/>
<subsystem name="stabilization" type="int_quat"/>
<!--subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins" type="extended"/-->
<subsystem name="ins" type="float_invariant"/>
</firmware>
<module name="motor_mixing"/>
<module name="actuators" type="bebop"/>
<module name="imu" type="bebop"/>
<module name="gps" type="furuno"/>
<module name="stabilization" type="int_quat"/>
<!--module name="ahrs" type="int_cmpl_quat"/>
<module name="ins" type="extended"/-->
<module name="ins" type="float_invariant"/>
<modules main_freq="512">
<load name="sonar_bebop.xml">
<module name="sonar" type="bebop">
<define name="SENSOR_SYNC_SEND_SONAR"/>
</load>
<!--load name="send_imu_mag_current.xml"/>
<load name="file_logger.xml">
</module>
<!--module name="send_imu_mag_current"/>
<module name="file_logger">
<define name="FILE_LOGGER_PATH" value="\\/data/ftp/internal_000/\\" type="string"/>
</load-->
<!--load name="video_rtp_stream.xml">
</module-->
<!--module name="video_rtp_stream">
<define name="VIEWVIDEO_FPS" value="60"/>
<define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/>
<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
@@ -45,8 +43,10 @@
<define name="VIEWVIDEO_DEVICE_SIZE" value="320,240"/>
<define name="VIEWVIDEO_DEVICE_BUFFERS" value="60"/>
<define name="VIEWVIDEO_SHOT_PATH" value="/data/ftp/internal_000/images"/>
</load-->
</modules>
</module-->
</firmware>
<modules main_freq="512"/>
<commands>
<axis name="PITCH" failsafe_value="0"/>
conf/airframes/ENAC/quadrotor/blender.xml
+22 -22
View File
@@ -2,15 +2,6 @@
<airframe name="Blender">
<modules main_freq="512">
<load name="servo_switch.xml"/>
<load name="rotorcraft_cam.xml"/>
<!--load name="sonar_adc.xml"/-->
<!--load name="adc_generic.xml">
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_0"/>
</load-->
</modules>
<firmware name="rotorcraft">
<define name="USE_INS_NAV_INIT"/>
@@ -20,24 +11,33 @@
<define name="ACTUATORS_START_DELAY" value="3"/>
</target>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="actuators" type="skiron">
<module name="radio_control" type="ppm"/>
<module name="telemetry" type="transparent"/>
<module name="actuators" type="skiron">
<define name="SKIRON_I2C_SCL_TIME" value="25"/>
</subsystem>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
</module>
<module name="motor_mixing"/>
<module name="actuators" type="pwm">
<define name="USE_PWM0"/>
</subsystem>
<subsystem name="imu" type="navgo"/>
<subsystem name="gps" type="ublox">
</module>
<module name="imu" type="navgo"/>
<module name="gps" type="ublox">
<configure name="GPS_BAUD" value="B57600"/>
</subsystem>
<subsystem name="stabilization" type="int_euler"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins" type="hff"/>
</module>
<module name="stabilization" type="int_euler"/>
<module name="ahrs" type="int_cmpl_quat"/>
<module name="ins" type="hff"/>
<module name="servo_switch"/>
<module name="rotorcraft_cam"/>
<!--module name="sonar" type="adc"/-->
<!--module name="adc_generic">
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_0"/>
</module-->
</firmware>
<modules main_freq="512"/>
<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="-50"/>
<define name="TRIM_PITCH" value="-150"/>
conf/airframes/ENAC/quadrotor/booz2_g1.xml
+34 -34
View File
@@ -1,27 +1,6 @@
<airframe name="BOOZ2_G1">
<modules main_freq="512">
<load name="servo_switch.xml"/>
<load name="rotorcraft_cam.xml"/>
<load name="sonar_adc.xml">
<configure name="ADC_SONAR" value="ADC_0"/>
<define name="USE_SONAR"/>
<!--define name="SENSOR_SYNC_SEND_SONAR"/-->
</load>
<!--load name="baro_mpl3115.xml">
<configure name="MPL3115_I2C_DEV" value="i2c1"/>
<define name="SENSOR_SYNC_SEND"/>
</load-->
<!--load name="mavlink_decoder.xml">
<configure name="MAVLINK_PORT" value="UART0"/>
<configure name="MAVLINK_BAUD" value="B115200"/>
</load>
<load name="px4flow.xml"/-->
<!--load name="adc_generic.xml">
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_0"/>
</load-->
<!--load name="sys_mon.xml"/-->
</modules>
<modules main_freq="512"/>
<firmware name="rotorcraft">
<define name="DEBUG_VFF_EXTENDED"/>
@@ -34,23 +13,44 @@
<define name="ACTUATORS_START_DELAY" value="3"/>
</target>
<!--target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<module name="fdm" type="jsbsim"/>
</target-->
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="actuators" type="asctec"/>
<subsystem name="actuators" type="pwm">
<module name="radio_control" type="ppm"/>
<module name="telemetry" type="transparent"/>
<module name="actuators" type="asctec"/>
<module name="actuators" type="pwm">
<define name="USE_PWM0"/>
<define name="USE_PWM1"/>
</subsystem>
<subsystem name="imu" type="b2_v1.1"/>
<subsystem name="gps" type="ublox">
</module>
<module name="imu" type="b2_v1.1"/>
<module name="gps" type="ublox">
<configure name="GPS_BAUD" value="B57600"/>
</subsystem>
<subsystem name="stabilization" type="int_euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/>
<subsystem name="ins" type="extended"/>
</module>
<module name="stabilization" type="int_euler"/>
<module name="ahrs" type="int_cmpl_euler"/>
<module name="ins" type="extended"/>
<module name="servo_switch"/>
<module name="rotorcraft_cam"/>
<module name="sonar_adc">
<configure name="ADC_SONAR" value="ADC_0"/>
<define name="USE_SONAR"/>
<!--define name="SENSOR_SYNC_SEND_SONAR"/-->
</module>
<!--module name="baro_mpl3115">
<configure name="MPL3115_I2C_DEV" value="i2c1"/>
<define name="SENSOR_SYNC_SEND"/>
</module-->
<!--module name="mavlink_decoder">
<configure name="MAVLINK_PORT" value="UART0"/>
<configure name="MAVLINK_BAUD" value="B115200"/>
</module>
<module name="px4flow"/-->
<!--module name="adc_generic">
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_0"/>
</module-->
<!--module name="sys_mon"/-->
</firmware>
<servos driver="Asctec">
conf/airframes/ENAC/quadrotor/ladybird_lisa_s.xml
+24 -24
View File
@@ -24,11 +24,11 @@
<!--
Applicable configuration:
airframe="airframes/examples/ladybird_lisa_s.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
airframe="airframes/examples/ladybird_lisa_s"
radio="radios/cockpitSX"
telemetry="telemetry/default_rotorcraft"
flight_plan="flight_plans/rotorcraft_basic"
settings="settings/rotorcraft_basic settings/control/rotorcraft_guidance settings/control/stabilization_att_int"
-->
<airframe name="quadrotor_lisa_s">
@@ -185,14 +185,11 @@
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
<modules main_freq="512">
<load name="gps_ubx_ucenter.xml"/>
<!--load name="send_imu_mag_current.xml"/-->
</modules>
<modules main_freq="512"/>
<firmware name="rotorcraft">
<target name="ap" board="lisa_s_1.0">
<subsystem name="radio_control" type="superbitrf_rc">
<module name="radio_control" type="superbitrf_rc">
<!-- To store the binding parameters for the superbit radio in your -->
<!-- airframe file uncomment the following three lines and set the -->
<!-- correct values based on the output of the superbitrf telemetry messages. -->
@@ -202,19 +199,19 @@
<define name="RADIO_MODE" value="RADIO_FLAP"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<!--define name="SUPERBITRF_FORCE_DSM2" value="TRUE"/-->
</subsystem>
</module>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="ppm"/>
</target>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<module name="motor_mixing"/>
<module name="actuators" type="pwm">
<!-- This airframe is using the servo PWM outputs directly to drive mosfets, which in turn directly drive brushed motors.
With the following settings we will be driving the motors with a 36KHz signal that should be well above anyone's hearing range.
If we went with the 500Hz that woul be the default we would be hearing a very annoying high pitched sound coming from the motors.
@@ -224,18 +221,21 @@
<!-- Setting the PWM interval to 36KHz -->
<define name="SERVO_HZ" value="36000"/>
<define name="USE_SERVOS_1AND2"/>
</subsystem>
</module>
<subsystem name="telemetry" type="superbitrf"/>
<module name="telemetry" type="superbitrf"/>
<!-- Comment the previous line and uncomment the following one if you need
to use the debug serial interface for telemetry. -->
<!--subsystem name="telemetry" type="transparent"/-->
<subsystem name="imu" type="lisa_s_v1.0">
<!--module name="telemetry" type="transparent"/-->
<module name="imu" type="lisa_s_v1.0">
<define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) -->
</subsystem>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins"/>
</module>
<module name="gps" type="ublox"/>
<module name="gps" type="ubx_ucenter"/>
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat"/>
<module name="ins"/>
<!--module name="send_imu_mag_current"/-->
</firmware>
</airframe>