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made control loops a seperate subsystem

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This commit is contained in:
Felix Ruess
2010-08-24 12:01:21 +00:00
parent 881b88b228
commit d34e7aa88c
17 changed files with 27 additions and 8 deletions
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conf/airframes/AirborneCodeReorg/LisaFw.xml
+1 -1
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@@ -171,7 +171,7 @@
</target> </target>
<target name="sim" board="pc" /> <target name="sim" board="pc" />
<subsystem name="navigation"/> <subsystem name="navigation"/>
<subsystem name="control"/>
<!-- Communication --> <!-- Communication -->
<subsystem name="telemetry" type="transparent"> <subsystem name="telemetry" type="transparent">
conf/airframes/AirborneCodeReorg/TinyFw.xml
+1 -1
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@@ -177,7 +177,7 @@
<!-- Actuators --> <!-- Actuators -->
<subsystem name="actuators" type="4017"/> <subsystem name="actuators" type="4017"/>
<subsystem name="control"/>
<!-- Sensors --> <!-- Sensors -->
<subsystem name="gyro" type="roll"/> <subsystem name="gyro" type="roll"/>
<subsystem name="attitude" type="infrared"/> <subsystem name="attitude" type="infrared"/>
conf/airframes/delta_wing_minimal_example.xml
+1
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@@ -17,6 +17,7 @@
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/> <subsystem name="telemetry" type="transparent"/>
<subsystem name="actuators" type="4017"/> <subsystem name="actuators" type="4017"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/> <subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea5h"/> <subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="navigation"/> <subsystem name="navigation"/>
conf/airframes/easy_glider_example.xml
+1 -1
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@@ -167,7 +167,7 @@
<!-- Actuators --> <!-- Actuators -->
<subsystem name="actuators" type="4015"/> <subsystem name="actuators" type="4015"/>
<subsystem name="control"/>
<!-- Sensors --> <!-- Sensors -->
<subsystem name="adc" type="generic"> <subsystem name="adc" type="generic">
<param name="ADC_GENERIC1" value="ADC_7"/> <!-- current sensor --> <param name="ADC_GENERIC1" value="ADC_7"/> <!-- current sensor -->
conf/airframes/easystar_ets_example.xml
+2 -1
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@@ -27,10 +27,11 @@
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/> <subsystem name="telemetry" type="transparent"/>
<subsystem name="actuators" type="4017"/> <subsystem name="actuators" type="4017"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/> <subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea5h"/> <subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="airspeed" type="ets"/> <subsystem name="airspeed" type="ets"/>
<subsystem name="navigation"/> <subsystem name="navigation" type="extra"/>
</firmware> </firmware>
<firmware name="setup"> <firmware name="setup">
conf/airframes/easystar_example.xml
+1
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@@ -23,6 +23,7 @@
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/> <subsystem name="telemetry" type="transparent"/>
<subsystem name="actuators" type="4017"/> <subsystem name="actuators" type="4017"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/> <subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea5h"/> <subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="navigation"/> <subsystem name="navigation"/>
conf/airframes/funjet_example.xml
+1 -1
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@@ -27,7 +27,7 @@
<!-- Actuators --> <!-- Actuators -->
<subsystem name="actuators" type="4017"/> <subsystem name="actuators" type="4017"/>
<subsystem name="control"/>
<!-- Sensors --> <!-- Sensors -->
<subsystem name="attitude" type="infrared"/> <subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea5h"/> <subsystem name="gps" type="ublox_lea5h"/>
conf/airframes/mentor_tum.xml
+1
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@@ -28,6 +28,7 @@
<!--<define name="TELEMETRY_MODE_FBW" value="1"/>--> <!--<define name="TELEMETRY_MODE_FBW" value="1"/>-->
<subsystem name="telemetry" type="transparent"/> <subsystem name="telemetry" type="transparent"/>
<subsystem name="actuators" type="4017"/> <subsystem name="actuators" type="4017"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/> <subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea5h"/> <subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="navigation" type="extra"/> <subsystem name="navigation" type="extra"/>
conf/airframes/microjet_example.xml
+1 -1
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@@ -177,7 +177,7 @@
<!-- Actuators --> <!-- Actuators -->
<subsystem name="actuators" type="4017"/> <subsystem name="actuators" type="4017"/>
<subsystem name="control"/>
<!-- Sensors --> <!-- Sensors -->
<subsystem name="gyro" type="roll"/> <subsystem name="gyro" type="roll"/>
<subsystem name="attitude" type="infrared"> <subsystem name="attitude" type="infrared">
conf/airframes/twinjet_example.xml
+1
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@@ -26,6 +26,7 @@
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/> <subsystem name="telemetry" type="transparent"/>
<subsystem name="actuators" type="4017"/> <subsystem name="actuators" type="4017"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/> <subsystem name="attitude" type="infrared"/>
<subsystem name="gyro" type="roll"/> <subsystem name="gyro" type="roll"/>
<subsystem name="gps" type="ublox_lea5h"/> <subsystem name="gps" type="ublox_lea5h"/>
conf/airframes/twinstar_example.xml
+1
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@@ -27,6 +27,7 @@
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/> <subsystem name="telemetry" type="transparent"/>
<subsystem name="actuators" type="4017"/> <subsystem name="actuators" type="4017"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/> <subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea4p"/> <subsystem name="gps" type="ublox_lea4p"/>
<subsystem name="navigation"/> <subsystem name="navigation"/>
conf/autopilot/fixedwing.xml
+1
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@@ -21,6 +21,7 @@
</subsystem> </subsystem>
<!-- Actuators --> <!-- Actuators -->
<subsystem name="actuators" types="4015|4017|ppm"/> <subsystem name="actuators" types="4015|4017|ppm"/>
<subsystem name="control" types="NONE|adaptive|new"/>
<!-- Sensors --> <!-- Sensors -->
<subsystem name="gyro" types="roll|pitch"> <subsystem name="gyro" types="roll|pitch">
<param name="ADC_GYRO_ROLL" value="ADC_3"/><!-- this is already the default if not set, change if needed --> <param name="ADC_GYRO_ROLL" value="ADC_3"/><!-- this is already the default if not set, change if needed -->
conf/autopilot/subsystems/fixedwing/control.makefile
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@@ -0,0 +1,4 @@
# Standard fixed wing control loops
ap.srcs += $(SRC_FIXEDWING)/fw_h_ctl.c $(SRC_FIXEDWING)/fw_v_ctl.c
conf/autopilot/subsystems/fixedwing/control_adaptive.makefile
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@@ -0,0 +1,4 @@
# fixed wing control loops with adaptive horizontal control
ap.srcs += $(SRC_FIXEDWING)/fw_h_ctl_a.c $(SRC_FIXEDWING)/fw_v_ctl.c
conf/autopilot/subsystems/fixedwing/control_new.makefile
+4
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@@ -0,0 +1,4 @@
# new fixed wing control loops with merged auto pitch and auto throttle, adaptive horizontal control
ap.srcs += $(SRC_FIXEDWING)/fw_h_ctl_a.c $(SRC_FIXEDWING)/fw_v_ctl_n.c
conf/autopilot/subsystems/fixedwing/navigation.makefile
+1 -1
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@@ -4,7 +4,7 @@
#add these to all targets #add these to all targets
$(TARGET).CFLAGS += -DNAV $(TARGET).CFLAGS += -DNAV
$(TARGET).srcs += $(SRC_FIXEDWING)/nav.c $(SRC_FIXEDWING)/fw_h_ctl.c $(SRC_FIXEDWING)/fw_v_ctl.c $(TARGET).srcs += $(SRC_FIXEDWING)/nav.c
$(TARGET).srcs += $(SRC_FIXEDWING)/traffic_info.c $(TARGET).srcs += $(SRC_FIXEDWING)/traffic_info.c
$(TARGET).srcs += $(SRC_FIXEDWING)/nav_survey_rectangle.c $(SRC_FIXEDWING)/nav_line.c $(TARGET).srcs += $(SRC_FIXEDWING)/nav_survey_rectangle.c $(SRC_FIXEDWING)/nav_line.c
conf/autopilot/subsystems/fixedwing/navigation_extra.makefile
+1 -1
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@@ -4,7 +4,7 @@
#add these to all targets #add these to all targets
$(TARGET).CFLAGS += -DNAV $(TARGET).CFLAGS += -DNAV
$(TARGET).srcs += $(SRC_FIXEDWING)/nav.c $(SRC_FIXEDWING)/fw_h_ctl.c $(SRC_FIXEDWING)/fw_v_ctl.c $(TARGET).srcs += $(SRC_FIXEDWING)/nav.c
$(TARGET).srcs += $(SRC_FIXEDWING)/traffic_info.c $(TARGET).srcs += $(SRC_FIXEDWING)/traffic_info.c
$(TARGET).srcs += $(SRC_FIXEDWING)/nav_survey_rectangle.c $(SRC_FIXEDWING)/nav_line.c $(TARGET).srcs += $(SRC_FIXEDWING)/nav_survey_rectangle.c $(SRC_FIXEDWING)/nav_line.c