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updated settings and added raw and scaled telemetry modes for default_fixedwing_imu

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This commit is contained in:
Felix Ruess
2011-07-26 22:59:06 +02:00
parent 46deabea48
commit ce86defece
7 changed files with 70 additions and 21 deletions
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conf/settings/basic.xml
+4 -4
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@@ -10,10 +10,10 @@
<dl_setting MAX="10" MIN="-10" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
<dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time" module="autopilot" handler="ResetFlightTimeAndLaunch"/>
<dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
<strip_button icon="circle-right.png" name="Circle right" value="1"/>
<strip_button icon="circle-right.png" name="Circle right" value="1"/>
<strip_button icon="circle-left.png" name="Circle left" value="-1"/>
<key_press key="greater" value="1"/>
<key_press key="less" value="-1"/>
<key_press key="greater" value="1"/>
<key_press key="less" value="-1"/>
</dl_setting>
</dl_settings>
@@ -21,7 +21,7 @@
<dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="autopilot" values="MANUAL|AUTO1|AUTO2|HOME|NOGPS|FAILSAFE"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="downlink"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="downlink" values="Default|Minimal|Extremal"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
</dl_settings>
conf/settings/basic_ins.xml
+33
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@@ -0,0 +1,33 @@
<!DOCTYPE settings SYSTEM "settings.dtd">
<!-- A conf to use for standard operation with IMU (no tuning) -->
<settings>
<dl_settings>
<dl_settings NAME="flight params">
<dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
<dl_setting MAX="360" MIN="0" STEP="1" VAR="nav_course"/>
<dl_setting MAX="10" MIN="-10" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
<dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time" module="autopilot" handler="ResetFlightTimeAndLaunch"/>
<dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
<strip_button icon="circle-right.png" name="Circle right" value="1"/>
<strip_button icon="circle-left.png" name="Circle left" value="-1"/>
<key_press key="greater" value="1"/>
<key_press key="less" value="-1"/>
</dl_setting>
</dl_settings>
<dl_settings NAME="mode">
<dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="autopilot" values="MANUAL|AUTO1|AUTO2|HOME|NOGPS|FAILSAFE"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
<dl_setting MAX="5" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="downlink" values="Default|Minimal|Extremal|Raw|Scaled|DebugIMU"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
</dl_settings>
<dl_settings NAME="ins">
<dl_setting MAX="0.3" MIN="-0.3" STEP="0.01" VAR="ins_roll_neutral" shortname="roll_neutral" module="subsystems/ahrs" param="INS_ROLL_NEUTRAL_DEFAULT" unit="rad"/>
<dl_setting MAX="0.5" MIN="-0.3" STEP="0.01" VAR="ins_pitch_neutral" shortname="pitch_neutral" param="INS_PITCH_NEUTRAL_DEFAULT" unit="rad"/>
</dl_settings>
</dl_settings>
</settings>
conf/settings/ins_basic.xml
+1
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@@ -1,5 +1,6 @@
<!DOCTYPE settings SYSTEM "settings.dtd">
use other file
<settings>
<dl_settings>
<dl_settings NAME="ins">
conf/settings/tuning.xml
+2 -2
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@@ -17,8 +17,8 @@
<dl_setting MAX="1000" MIN="0" STEP="1" VAR="stage_time"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="downlink"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="downlink"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="downlink" values="Default|Minimal|Extremal"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="downlink" values="Default|Debug"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
<dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
conf/settings/tuning_basic_ins.xml
+2 -2
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@@ -17,8 +17,8 @@
<dl_setting MAX="1000" MIN="0" STEP="1" VAR="stage_time"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="downlink"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="downlink"/>
<dl_setting MAX="5" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="downlink" values="Default|Minimal|Extremal|Raw|Scaled|DebugIMU"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="downlink" values="Default|Debug"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
<dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
conf/settings/tuning_ins.xml
+2 -2
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@@ -17,8 +17,8 @@
<dl_setting MAX="1000" MIN="0" STEP="1" VAR="stage_time"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="downlink"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="downlink"/>
<dl_setting MAX="5" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="downlink" values="Default|Minimal|Extremal|Raw|Scaled|DebugIMU"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="downlink" values="Default|Debug"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
<dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
conf/telemetry/default_fixedwing_imu.xml
+26 -11
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@@ -53,6 +53,32 @@
<message name="SURVEY" period="2.1"/>
<message name="GPS_SOL" period="5.0"/>
</mode>
<mode name="extremal">
<message name="ALIVE" period="5"/>
<message name="GPS" period="5.1"/>
<message name="ESTIMATOR" period="5.3"/>
<message name="BAT" period="10.1"/>
<message name="DESIRED" period="10.2"/>
<message name="NAVIGATION" period="5.4"/>
<message name="PPRZ_MODE" period="7.5"/>
<message name="STATE_FILTER_STATUS" period="8."/>
<message name="DOWNLINK" period="5.7"/>
</mode>
<mode name="raw_sensors">
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="2.1"/>
<message name="IMU_ACCEL_RAW" period=".05"/>
<message name="IMU_GYRO_RAW" period=".05"/>
<message name="IMU_MAG_RAW" period=".05"/>
<message name="BARO_RAW" period=".1"/>
</mode>
<mode name="scaled_sensors">
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="2.1"/>
<message name="IMU_GYRO_SCALED" period=".075"/>
<message name="IMU_ACCEL_SCALED" period=".075"/>
<message name="IMU_MAG_SCALED" period=".1"/>
</mode>
<mode name="debug_imu">
<message name="ATTITUDE" period="0.1"/>
<message name="ALIVE" period="5"/>
@@ -71,17 +97,6 @@
<message name="IMU_GYRO_RAW" period=".5"/>
<message name="IMU_MAG_RAW" period=".5"/>
</mode>
<mode name="extremal">
<message name="ALIVE" period="5"/>
<message name="GPS" period="5.1"/>
<message name="ESTIMATOR" period="5.3"/>
<message name="BAT" period="10.1"/>
<message name="DESIRED" period="10.2"/>
<message name="NAVIGATION" period="5.4"/>
<message name="PPRZ_MODE" period="7.5"/>
<message name="STATE_FILTER_STATUS" period="8."/>
<message name="DOWNLINK" period="5.7"/>
</mode>
</process>
<process name="Fbw">
<mode name="default">