*** empty log message ***

conf/airframes/twisted.xml

@@ -0,0 +1,68 @@
+<airframe name="Twisted Logic">
+ <!-- tiny airframe -->
+
+<!-- commands section -->
+  <servos>
+    <servo name="AILERON"  no="2" min="900" neutral="1500" max="2100"/>
+    <servo name="ELEVATOR" no="1" min="900" neutral="1500" max="2100"/>
+    <servo name="MOTOR_RIGHT"   no="6" min="1250" neutral="1250" max="1850"/>    
+    <servo name="MOTOR_LEFT"   no="3" min="1250" neutral="1250" max="1850"/>
+  </servos>
+
+  <commands>
+    <axis name="THROTTLE" failsafe_value="0"/>
+    <axis name="ROLL"     failsafe_value="0"/>
+    <axis name="PITCH"    failsafe_value="0"/>
+    <axis name="YAW"    failsafe_value="0"/>
+  </commands>
+
+  <rc_commands>
+    <set command="THROTTLE" value="@THROTTLE"/>
+    <set command="ROLL"     value="@ROLL"/>
+    <set command="PITCH"    value="@PITCH"/>
+    <set command="YAW"    value="@YAW"/>
+  </rc_commands>
+
+  <section name="MIXER">
+    <define name="AILEVON_AILERON_RATE" value="0.8"/>
+    <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
+  </section>
+
+    <command_laws>
+	  <let var="roll"     value="1.0  * @ROLL"/>
+          <let var="yawtoroll"     value="0.0001 * @YAW"/>
+          <let var="pitchtoroll" value="0.0001 * @PITCH"/>
+	  <let var="pitch"    value="1.0  * @PITCH"/>
+	  <let var="yaw"      value="0.1 * @YAW"/>
+	  <let var="throttle" value="1.0   * @THROTTLE"/>
+	  <set servo="AILERON" value="$roll"/>
+	  <set servo="ELEVATOR"  value="$pitch"/>
+	  <set servo="MOTOR_LEFT"  value="$throttle - $yaw - .06*$throttle"/> <!-- add trim term for Right -->
+	  <set servo="MOTOR_RIGHT" value="$throttle + $yaw + .06*$throttle"/> <!-- subtract trim term for Right -->  
+  </command_laws>
+
+<makefile>
+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+
+FLASH_MODE=IAP
+
+ap.CFLAGS +=  -DFBW -DAP -DCONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1
+ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_coax.c main.c
+
+ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
+ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c commands.c
+
+ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+
+ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B19200
+ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+
+ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DUSE_BARO_MS5534A
+ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c
+
+ap.CFLAGS += -DALT_KALMAN
+ap.srcs += estimator.c
+
+</makefile>
+</airframe>

conf/settings/twisted.xml

@@ -0,0 +1,8 @@
+<!DOCTYPE settings SYSTEM "settings.dtd">
+
+<!-- A conf to use for standard operation (no tuning) -->
+
+<settings>
+  <dl_settings>
+  </dl_settings>
+</settings>

debian/control.sid

@@ -8,9 +8,9 @@ Standards-Version: 3.6.1
 
 Package: paparazzi-dev
 Architecture: any
-Suggests: mlview, lustre, paparazzi-avr, paparazzi-arm
+Suggests: paparazzi-avr, paparazzi-arm7
 Recommends: eagle, gs-common, tetex-extra, dia-gnome
-Depends: ivy-c-dev, ivy-c, ivy-perl, ivy-ocaml, xml-light-ocaml, liblablgtk2-ocaml-dev, make, gcc, boa, gnuplot, libgnomecanvas2-dev, libxml-dom-perl, libsubject-perl, libfile-ncopy-perl, libpcre3-dev, bzip2, libexpect-perl, cvs, liblablgl-ocaml-dev, liblablgtk2-gl-ocaml-dev, liblablgtk2-gnome-ocaml-dev, libcamlimages-ocaml-dev, libusb-dev
+Depends: ivy-c-dev, ivy-c, ivy-ocaml, xml-light-ocaml, liblablgtk2-ocaml-dev, make, gcc, boa, gnuplot, libgnomecanvas2-dev, bzip2, cvs, liblablgl-ocaml-dev, liblablgtk2-gl-ocaml-dev, liblablgtk2-gnome-ocaml-dev, libcamlimages-ocaml-dev, libusb-dev, speech-dispatcher, glade, gedit, imagemagick
 Description: Paparazzi Meta Package : common support
 
 
@@ -22,12 +22,12 @@ Description: Paparazzi Meta Package. Atmel AVR support
 
 Package: paparazzi-arm7
 Architecture: any
-Depends: lpc21isp, gcc-arm, binutils-arm, newlib-arm, libusb-dev
+Depends: lpc21isp, gcc-arm, binutils-arm, libusb-dev
 Description: Paparazzi Meta Package. Philips ARM7 support
 
 
 Package: paparazzi-bin
 Architecture: i386
-Depends: ivy-c-dev, ivy-c, ivy-perl, ivy-ocaml, xml-light-ocaml, liblablgtk2-ocaml-dev, make, gcc, boa, gnuplot, libxml-dom-perl, libsubject-perl, libfile-ncopy-perl, libpcre3-dev, bzip2, libexpect-perl
+Depends: ivy-c-dev, ivy-c, ivy-ocaml, xml-light-ocaml, liblablgtk2-ocaml-dev, make, gcc, boa, gnuplot, bzip2, liblablgtk2-gnome-ocaml-dev, speech-dispatcher, gedit, imagemagick
 Description: Paparazzi main package
 

sw/airborne/main_coax.c

@@ -0,0 +1,93 @@
+#include "std.h"
+#include "init_hw.h"
+#include "sys_time.h"
+#include "led.h"
+#include "interrupt_hw.h"
+#include "uart.h"
+
+#include "main_ap.h"
+#include "airframe.h"
+
+#include "messages.h"
+#include "downlink.h"
+#include "spi.h"
+#include "baro_MS5534A.h"
+
+#include "estimator.h"
+
+float ground_alt;
+
+#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
+
+static bool_t dl_msg_available;
+static inline void main_dl_parse_msg( void );
+
+void init_ap( void ) {
+  /** init done in main_fbw */
+  spi_init();
+
+  baro_MS5534A_init();
+
+  int_enable();
+
+  baro_MS5534A_init();
+}
+
+void periodic_task_ap( void ) {
+  //  LED_TOGGLE(1);
+  //  DOWNLINK_SEND_TAKEOFF(&cpu_time_sec);
+
+  static uint8_t _20Hz   = 0;
+  _20Hz++;
+  if (_20Hz>=3) _20Hz=0;
+
+  if (!_20Hz) {
+    baro_MS5534A_send();
+  }
+}
+
+void event_task_ap( void ) {
+  if (PprzBuffer()) {
+    ReadPprzBuffer();
+    if (pprz_msg_received) {
+      pprz_parse_payload();
+      pprz_msg_received = FALSE;
+    }
+  }
+  if (dl_msg_available) {
+    main_dl_parse_msg();
+    dl_msg_available = FALSE;
+    LED_TOGGLE(1);
+  }
+
+  if (spi_message_received) {
+    /* Got a message on SPI. */
+    spi_message_received = FALSE;
+    baro_MS5534A_event_task();
+    if (baro_MS5534A_available) {
+      baro_MS5534A_available = FALSE;
+
+      baro_MS5534A_z = ground_alt +((float)baro_MS5534A_ground_pressure - baro_MS5534A_pressure)*0.084;
+      if (alt_baro_enabled) {
+	EstimatorSetAlt(baro_MS5534A_z);
+      }
+    }
+  }
+}
+
+#define MSG_SIZE 128
+uint8_t dl_buffer[MSG_SIZE]  __attribute__ ((aligned));
+
+#include "settings.h"
+
+#define IdOfMsg(x) (x[1])
+
+static inline void main_dl_parse_msg(void) {
+  uint8_t msg_id = IdOfMsg(dl_buffer);
+  if (msg_id == DL_SETTING) {
+    uint8_t i = DL_SETTING_index(dl_buffer);
+    float var = DL_SETTING_value(dl_buffer);
+    DlSetting(i, var);
+    DOWNLINK_SEND_DL_VALUE(&i, &var);
+  }  
+}

sw/airborne/sim/baro_MS5534A.h

@@ -0,0 +1,59 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2007  ENAC
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ *
+ */
+
+/** \file baro_MS5534A.h
+ *  \brief Handling of the MS5534a pressure sensor
+ *
+ */
+
+#ifndef BARO_MS5534A_H
+#define BARO_MS5534A_H
+
+#include "std.h"
+
+#ifdef USE_BARO_MS5534A
+
+extern bool_t spi_message_received;
+extern bool_t baro_MS5534A_available;
+extern uint32_t baro_MS5534A_pressure;
+extern uint16_t baro_MS5534A_temp;
+extern bool_t alt_baro_enabled;
+extern uint32_t baro_MS5534A_ground_pressure;
+extern float baro_MS5534A_r;
+extern float baro_MS5534A_sigma2;
+extern float baro_MS5534A_z;
+
+
+void baro_MS5534A_init(void);
+void baro_MS5534A_reset(void);
+
+/* To be called not faster than 30Hz */
+void baro_MS5534A_send(void);
+
+/* Set baro_MS5534A_available when pressure and temp are readable */
+void baro_MS5534A_event_task( void );
+
+#endif // USE_BARO_MS5534A
+
+#endif // BARO_MS5534A_H

sw/airborne/sim/sim_baro.c

@@ -0,0 +1,37 @@
+#include <stdlib.h>
+#include "estimator.h"
+#include "nav.h"
+#include "gps.h"
+#include "baro_MS5534A.h"
+
+bool_t alt_baro_enabled;
+bool_t spi_message_received;
+bool_t baro_MS5534A_available;
+uint32_t baro_MS5534A_pressure;
+uint32_t baro_MS5534A_ground_pressure;
+uint16_t baro_MS5534A_temp;
+float baro_MS5534A_r;
+float baro_MS5534A_sigma2;
+float baro_MS5534A_z;
+
+void baro_MS5534A_init(void) {
+  baro_MS5534A_ground_pressure = 100000;
+
+  baro_MS5534A_r = 10.;
+  baro_MS5534A_sigma2 = 1;
+}
+
+// void baro_MS5534A_reset(void);
+
+void baro_MS5534A_send(void) {
+  static bool_t even = FALSE;
+  even = !even;
+
+  spi_message_received = even;
+}
+
+void baro_MS5534A_event_task( void ) {
+  baro_MS5534A_pressure = baro_MS5534A_ground_pressure - (gps_alt/100.-ground_alt) / 0.08 + ((10.*random()) / RAND_MAX);
+  baro_MS5534A_temp = 10 + estimator_z;
+  baro_MS5534A_available = TRUE;
+}