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Merge branch 'master' into nav

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This commit is contained in:
Felix Ruess
2010-11-22 23:05:27 +01:00
parent 7aa38a5d5b c845adc978
commit d4b4fddeed
22 changed files with 108 additions and 108 deletions
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README
+17 -14
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@@ -1,33 +1,33 @@
# Paparazzi $Id$ # Paparazzi $Id$
# Copyright (C) 2003-2006 Pascal Brisset Antoine Drouin # Copyright (C) 2003-2010 The Paparazzi Team
# #
# This file is part of paparazzi. # This file is part of Paparazzi.
# #
# paparazzi is free software; you can redistribute it and/or modify # Paparazzi is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by # it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 2, or (at your option) # the Free Software Foundation; either version 2, or (at your option)
# any later version. # any later version.
# #
# paparazzi is distributed in the hope that it will be useful, # Paparazzi is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of # but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details. # GNU General Public License for more details.
# #
# You should have received a copy of the GNU General Public License # You should have received a copy of the GNU General Public License
# along with paparazzi; see the file COPYING. If not, write to # along with Paparazzi; see the file COPYING. If not, write to
# the Free Software Foundation, 59 Temple Place - Suite 330, # the Free Software Foundation, 59 Temple Place - Suite 330,
# Boston, MA 02111-1307, USA. # Boston, MA 02111-1307, USA.
Intro Intro
----- -----
Paparazzi is an attempt to develop a cheap fixed wing UAV (Unmanned Air Paparazzi is an attempt to develop a free software Unmanned (Air) Vehicle System.
Vehicle). As of today we have successfully flown autonomously several small As of today the system is being used successfuly by a number of hobyists, universities and companies all over the world, on vehicle of various size ( 100g to 25Kg ) and of various nature ( fixed wing, rotorcrafts, boats and surface vehicles).
electro powered fixed wing aircraft (Twinstar, Microjet, ...).
Up to date informations are available from the wiki website Up to date informations are available from the wiki website
paparazzi.enac.fr http://paparazzi.enac.fr
and from the mailing list (http://savannah.nongnu.org/mail/?group=paparazzi) and from the mailing list (http://savannah.nongnu.org/mail/?group=paparazzi)
and the IRC channel (freenode, #paparazzi). and the IRC channel (freenode, #paparazzi).
@@ -62,15 +62,18 @@ For Debian or Ubuntu users, required packages are available at
http://paparazzi.enac.fr/debian http://paparazzi.enac.fr/debian
Installation of the meta-package "paparazzi-dev" will install
everything needed to compile this project (if something is missing, - "paparazzi-dev" will provide everything needed to compile and run the ground segment and the simulator. If something is missing, please report it.
please ask) for simulation. "paparazzi-arm7" is required to compile - "paparazzi-arm7" is required to compile the code for LPC21 based boards ( tiny, twog, booz, etc).
the code for the ARM based boards. - "paparazzi-stm32" is needed for building code for STM32 based boards (lisa/L, lisa/M)
- "paparazzi-omap" is needed for building code for the optional Gumstix Overo module available on lisa/L
- "paparazzi-jsbsim" is needed for using jsbsim as flight dynamic model for the simulator.
Compilation and demo simulation Compilation and demo simulation
------------------------------- -------------------------------
1) "make" in the top directory to compile all the libraries and tools. 1) type "make" in the top directory to compile all the libraries and tools.
2) "./paparazzi" to run the Paparazzi Center 2) "./paparazzi" to run the Paparazzi Center
conf/airframes/Poine/beth.xml
+7 -6
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@@ -93,11 +93,12 @@ ARCH=stm32
FLASH_MODE = JTAG FLASH_MODE = JTAG
SRC_ARCH = $(ARCH) SRC_ARCH = $(ARCH)
SRC_BETH=beth SRC_BETH=firmwares/beth
SRC_BOOZ=booz SRC_BOOZ=booz
SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH) SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH)
SRC_LISA=lisa SRC_LISA=lisa
SRC_LISA_ARCH=$(SRC_LISA)/arch/$(ARCH) SRC_LISA_ARCH=$(SRC_LISA)/arch/$(ARCH)
SRC_FIRMWARE=subsystems
main_stm32.ARCHDIR = stm32 main_stm32.ARCHDIR = stm32
#main_stm32.LDSCRIPT = $(SRC_ARCH)/stm32f103re_flash.ld #main_stm32.LDSCRIPT = $(SRC_ARCH)/stm32f103re_flash.ld
@@ -136,13 +137,13 @@ main_stm32.srcs += lisa/lisa_overo_link.c lisa/arch/stm32/lisa_overo_link_arch.c
#crista IMU #crista IMU
main_stm32.srcs += math/pprz_trig_int.c main_stm32.srcs += math/pprz_trig_int.c
main_stm32.CFLAGS += -DIMU_TYPE_H=\"imu/imu_crista.h\" -DIMU_OVERRIDE_CHANNELS main_stm32.CFLAGS += -DIMU_TYPE_H=\"imu/imu_crista.h\" -DIMU_OVERRIDE_CHANNELS
main_stm32.srcs += $(SRC_FIRMWARE)/imu.c \ main_stm32.srcs += subsystems/imu.c \
$(SRC_FIRMWARE)/imu/imu_crista.c \ subsystems/imu/imu_crista.c \
$(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_crista_arch.c arch/$(ARCH)/subsystems/imu/imu_crista_arch.c
main_stm32.CFLAGS += -DUSE_DMA1_C4_IRQ main_stm32.CFLAGS += -DUSE_DMA1_C4_IRQ
main_stm32.srcs += $(SRC_BOOZ)/booz2_commands.c main_stm32.srcs += $(SRC_BOOZ)/booz2_commands.c
main_stm32.srcs += $(SRC_BOOZ)/actuators/actuators_asctec.c main_stm32.srcs += firmwares/rotorcraft/actuators/actuators_asctec.c
#\ #\
# $(SRC_BOOZ_ARCH)/actuators/actuators_asctec_arch.c # $(SRC_BOOZ_ARCH)/actuators/actuators_asctec_arch.c
main_stm32.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1 main_stm32.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
@@ -317,7 +318,7 @@ overo_sfb.srcs += $(SRC_BETH)/overo_sfb_controller.c
# #
# #
# #
include $(PAPARAZZI_SRC)/conf/autopilot/lisa_test_progs.makefile include $(PAPARAZZI_SRC)/conf/autopilot/obsolete/lisa_test_progs.makefile
</makefile> </makefile>
conf/airframes/vor.xml
+4 -5
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@@ -4,13 +4,12 @@
ARCH=lpc21 ARCH=lpc21
VOR=vor
FLASH_MODE = IAP FLASH_MODE = IAP
main.ARCHDIR = $(ARCH) main.ARCHDIR = $(ARCH)
main.CFLAGS += -DBOARD_CONFIG=\"conf_demo.h\" main.CFLAGS += -DBOARD_CONFIG=\"boards/olimex_lpc_h2148.h\"
main.srcs = $(VOR)/lpc_vor_main.c main.srcs = firmwares/vor/lpc_vor_main.c
main.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./29880.)' main.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./29880.)'
main.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c main.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
@@ -19,7 +18,7 @@ main.CFLAGS += -DLED
main.srcs += $(SRC_ARCH)/armVIC.c main.srcs += $(SRC_ARCH)/armVIC.c
main.srcs += $(VOR)/lpc_vor_convertions.c main.srcs += firmwares/vor/lpc_vor_convertions.c
main.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B9600 main.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B9600
main.srcs += $(SRC_ARCH)/uart_hw.c main.srcs += $(SRC_ARCH)/uart_hw.c
@@ -27,7 +26,7 @@ main.srcs += $(SRC_ARCH)/uart_hw.c
main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
main.srcs += downlink.c pprz_transport.c main.srcs += downlink.c pprz_transport.c
main.srcs += $(VOR)/vor_int_demod_decim.c main.srcs += firmwares/vor/vor_int_demod_decim.c
</makefile> </makefile>
conf/autopilot/conf_demo.h
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@@ -1,20 +0,0 @@
#ifndef CONFIG_DEMO_H
#define CONFIG_DEMO_H
/* Master oscillator freq. */
#define FOSC (12000000)
/* PLL multiplier */
#define PLL_MUL (5)
/* CPU clock freq. */
#define CCLK (FOSC * PLL_MUL)
/* Peripheral bus speed mask 0x00->4, 0x01-> 1, 0x02 -> 2 */
#define PBSD_BITS 0x00
#define PBSD_VAL 4
/* Peripheral bus clock freq. */
#define PCLK (CCLK / PBSD_VAL)
#define LED_1_BANK 1
#define LED_1_PIN 24
#endif /* CONFIG_DEMO_H */
conf/messages.xml
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@@ -743,7 +743,12 @@
</message> </message>
<!--113 is free --> <!--113 is free -->
<!--114 is free -->
<message name="PAYLOAD" id="114">
<field name="values" type="uint8[]" unit="none"/>
</message>
<!--115 is free --> <!--115 is free -->
<!--116 is free --> <!--116 is free -->
<!--117 is free --> <!--117 is free -->
@@ -1931,6 +1936,11 @@
<field name="TURN" type="uint16"/> <field name="TURN" type="uint16"/>
</message> </message>
<message name="PAYLOAD_COMMAND" id="97" link="forwarded">
<field name="ac_id" type="uint8"/>
<field name="command" type="uint8[]"/>
</message>
<message name="SET_ACTUATOR" id="100" link="forwarded"> <message name="SET_ACTUATOR" id="100" link="forwarded">
<field name="value" type="uint16"/> <field name="value" type="uint16"/>
<field name="no" type="uint8"/> <field name="no" type="uint8"/>
conf/settings/settings_beth.xml
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@@ -4,7 +4,7 @@
<dl_settings> <dl_settings>
<dl_settings NAME="Controller"> <dl_settings NAME="Controller">
<dl_setting var="controller.armed" min="0" step="1" max="2" module="beth/overo_twist_controller" shortname ="mode"/> <dl_setting var="controller.armed" min="0" step="1" max="2" module="firmwares/beth/overo_twist_controller" shortname ="mode"/>
</dl_settings> </dl_settings>
</dl_settings> </dl_settings>
conf/settings/settings_beth_full.xml
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@@ -4,24 +4,24 @@
<dl_settings> <dl_settings>
<dl_settings NAME="Controller"> <dl_settings NAME="Controller">
<dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="beth/overo_twist_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/> <dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="firmwares/beth/overo_twist_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
<dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="beth/overo_twist_controller" shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"> <dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="firmwares/beth/overo_twist_controller" shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
</dl_setting> </dl_setting>
<dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" module="beth/overo_estimator" shortname="azim_gain"> <dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" module="firmwares/beth/overo_estimator" shortname="azim_gain">
</dl_setting> </dl_setting>
<dl_setting var="controller.omega_tilt_ref" min="200" step="100" max="1200" module="beth/overo_twist_controller" shortname="tilt_omega_ref" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578"> <dl_setting var="controller.omega_tilt_ref" min="200" step="100" max="1200" module="firmwares/beth/overo_twist_controller" shortname="tilt_omega_ref" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578">
</dl_setting> </dl_setting>
<dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator" shortname="elev_lp_coeff"> <dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator" shortname="elev_lp_coeff">
</dl_setting> </dl_setting>
<dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator" shortname="tilt_lp_coeff"> <dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator" shortname="tilt_lp_coeff">
</dl_setting> </dl_setting>
<dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator" shortname="azim_lp_coeff"> <dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator" shortname="azim_lp_coeff">
</dl_setting> </dl_setting>
<dl_setting var="controller.armed" min="0" step="1" max="2" shortname ="mode"/> <dl_setting var="controller.armed" min="0" step="1" max="2" shortname ="mode"/>
conf/settings/settings_beth_pid.xml
+7 -7
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@@ -4,24 +4,24 @@
<dl_settings> <dl_settings>
<dl_settings NAME="Controller"> <dl_settings NAME="Controller">
<dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="beth/overo_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/> <dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="firmwares/beth/overo_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
<dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="beth/overo_controller" shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"> <dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="firmwares/beth/overo_controller" shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
</dl_setting> </dl_setting>
<dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" module="beth/overo_estimator" shortname="azim_gain"> <dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" module="firmwares/beth/overo_estimator" shortname="azim_gain">
</dl_setting> </dl_setting>
<dl_setting var="controller.omega_tilt_ref" min="200" step="100" max="1200" module="beth/overo_controller" shortname="tilt_omega_ref" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578"> <dl_setting var="controller.omega_tilt_ref" min="200" step="100" max="1200" module="firmwares/beth/overo_controller" shortname="tilt_omega_ref" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578">
</dl_setting> </dl_setting>
<dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator" shortname="elev_lp_coeff"> <dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator" shortname="elev_lp_coeff">
</dl_setting> </dl_setting>
<dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator" shortname="tilt_lp_coeff"> <dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator" shortname="tilt_lp_coeff">
</dl_setting> </dl_setting>
<dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator" shortname="azim_lp_coeff"> <dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator" shortname="azim_lp_coeff">
</dl_setting> </dl_setting>
<dl_setting var="controller.armed" min="0" step="1" max="2" shortname ="mode"/> <dl_setting var="controller.armed" min="0" step="1" max="2" shortname ="mode"/>
conf/settings/settings_beth_reduced.xml
+1 -1
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@@ -4,7 +4,7 @@
<dl_settings> <dl_settings>
<dl_settings NAME="Controller"> <dl_settings NAME="Controller">
<dl_setting var="controller.armed" min="0" step="1" max="2" module="beth/overo_controller" shortname ="mode"/> <dl_setting var="controller.armed" min="0" step="1" max="2" module="firmwares/beth/overo_controller" shortname ="mode"/>
</dl_settings> </dl_settings>
</dl_settings> </dl_settings>
conf/settings/settings_beth_sfb.xml
+8 -8
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@@ -4,27 +4,27 @@
<dl_settings> <dl_settings>
<dl_settings NAME="Controller"> <dl_settings NAME="Controller">
<dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="beth/overo_sfb_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/> <dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="firmwares/beth/overo_sfb_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
<dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="beth/overo_sfb_controller" shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"> <dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="firmwares/beth/overo_sfb_controller" shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
</dl_setting> </dl_setting>
<dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator" shortname="elev_lp_coeff"> <dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator" shortname="elev_lp_coeff">
</dl_setting> </dl_setting>
<dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator" shortname="tilt_lp_coeff"> <dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator" shortname="tilt_lp_coeff">
</dl_setting> </dl_setting>
<dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator" shortname="azim_lp_coeff"> <dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator" shortname="azim_lp_coeff">
</dl_setting> </dl_setting>
<dl_setting var="controller.a" min=".001" step=".01" max=".06" module="beth/overo_sfb_controller"> <dl_setting var="controller.a" min=".001" step=".01" max=".06" module="firmwares/beth/overo_sfb_controller">
</dl_setting> </dl_setting>
<dl_setting var="controller.b" min=".01" step=".01" max=".54" module="beth/overo_sfb_controller"> <dl_setting var="controller.b" min=".01" step=".01" max=".54" module="firmwares/beth/overo_sfb_controller">
</dl_setting> </dl_setting>
<dl_setting var="controller.armed" min="0" step="1" max="2" module="beth/overo_sfb_controller" shortname ="mode"/> <dl_setting var="controller.armed" min="0" step="1" max="2" module="firmwares/beth/overo_sfb_controller" shortname ="mode"/>
</dl_settings> </dl_settings>
</dl_settings> </dl_settings>
conf/settings/settings_beth_twist.xml
+13 -13
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@@ -4,37 +4,37 @@
<dl_settings> <dl_settings>
<dl_settings NAME="Controller"> <dl_settings NAME="Controller">
<dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="beth/overo_twist_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/> <dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="firmwares/beth/overo_twist_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
<dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="beth/overo_twist_controller" shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"> <dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="firmwares/beth/overo_twist_controller" shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
</dl_setting> </dl_setting>
<dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" module="beth/overo_estimator" shortname="azim_gain"> <dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" module="firmwares/beth/overo_estimator" shortname="azim_gain">
</dl_setting> </dl_setting>
<dl_setting var="controller.omega_tilt_ref" min="200" step="100" max="1200" module="beth/overo_twist_controller" shortname="tilt_omega_ref" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578"> <dl_setting var="controller.omega_tilt_ref" min="200" step="100" max="1200" module="firmwares/beth/overo_twist_controller" shortname="tilt_omega_ref" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578">
</dl_setting> </dl_setting>
<dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator" shortname="elev_lp_coeff"> <dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator" shortname="elev_lp_coeff">
</dl_setting> </dl_setting>
<dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator" shortname="tilt_lp_coeff"> <dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator" shortname="tilt_lp_coeff">
</dl_setting> </dl_setting>
<dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator" shortname="azim_lp_coeff"> <dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator" shortname="azim_lp_coeff">
</dl_setting> </dl_setting>
<dl_setting var="controller.ulim" min="0.1" step="0.1" max="2" module="beth/overo_twist_controller" shortname="ulim"> <dl_setting var="controller.ulim" min="0.1" step="0.1" max="2" module="firmwares/beth/overo_twist_controller" shortname="ulim">
</dl_setting> </dl_setting>
<dl_setting var="controller.Vm" min="0.001" step="0.01" max="0.2" module="beth/overo_twist_controller" shortname="Vm"> <dl_setting var="controller.Vm" min="0.001" step="0.01" max="0.2" module="firmwares/beth/overo_twist_controller" shortname="Vm">
</dl_setting> </dl_setting>
<dl_setting var="controller.VM" min="100" step="10" max="700" module="beth/overo_twist_controller" shortname="VM"> <dl_setting var="controller.VM" min="100" step="10" max="700" module="firmwares/beth/overo_twist_controller" shortname="VM">
</dl_setting> </dl_setting>
<dl_setting var="controller.satval1" min=".01" step="0.05" max="0.174" module="beth/overo_twist_controller" shortname="satval1"> <dl_setting var="controller.satval1" min=".01" step="0.05" max="0.174" module="firmwares/beth/overo_twist_controller" shortname="satval1">
</dl_setting> </dl_setting>
<dl_setting var="controller.satval2" min="0.01" step="0.01" max=".282" module="beth/overo_twist_controller" shortname="satval2"> <dl_setting var="controller.satval2" min="0.01" step="0.01" max=".282" module="firmwares/beth/overo_twist_controller" shortname="satval2">
</dl_setting> </dl_setting>
<dl_setting var="controller.c" min="0.001" step="0.1" max="9.5" module="beth/overo_twist_controller" shortname="c"> <dl_setting var="controller.c" min="0.001" step="0.1" max="9.5" module="firmwares/beth/overo_twist_controller" shortname="c">
</dl_setting> </dl_setting>
<!--float ulim; 1 <!--float ulim; 1
conf/settings/settings_beth_twist_old.xml
+13 -13
View File
@@ -4,37 +4,37 @@
<dl_settings> <dl_settings>
<dl_settings NAME="Controller"> <dl_settings NAME="Controller">
<dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="beth/overo_twist_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/> <dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="firmwares/beth/overo_twist_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
<dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="beth/overo_twist_controller" shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"> <dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="firmwares/beth/overo_twist_controller" shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
</dl_setting> </dl_setting>
<dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" module="beth/overo_estimator" shortname="azim_gain"> <dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" module="firmwares/beth/overo_estimator" shortname="azim_gain">
</dl_setting> </dl_setting>
<dl_setting var="controller.omega_tilt_ref" min="200" step="100" max="1200" module="beth/overo_twist_controller" shortname="tilt_omega_ref" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578"> <dl_setting var="controller.omega_tilt_ref" min="200" step="100" max="1200" module="firmwares/beth/overo_twist_controller" shortname="tilt_omega_ref" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578">
</dl_setting> </dl_setting>
<dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator" shortname="elev_lp_coeff"> <dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator" shortname="elev_lp_coeff">
</dl_setting> </dl_setting>
<dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator" shortname="tilt_lp_coeff"> <dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator" shortname="tilt_lp_coeff">
</dl_setting> </dl_setting>
<dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator" shortname="azim_lp_coeff"> <dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator" shortname="azim_lp_coeff">
</dl_setting> </dl_setting>
<dl_setting var="controller.ulim" min="0.1" step="0.1" max="50" module="beth/overo_twist_controller" shortname="ulim"> <dl_setting var="controller.ulim" min="0.1" step="0.1" max="50" module="firmwares/beth/overo_twist_controller" shortname="ulim">
</dl_setting> </dl_setting>
<dl_setting var="controller.Vm" min="0.001" step="0.01" max="200" module="beth/overo_twist_controller" shortname="Vm"> <dl_setting var="controller.Vm" min="0.001" step="0.01" max="200" module="firmwares/beth/overo_twist_controller" shortname="Vm">
</dl_setting> </dl_setting>
<dl_setting var="controller.VM" min="100" step="10" max="600" module="beth/overo_twist_controller" shortname="VM"> <dl_setting var="controller.VM" min="100" step="10" max="600" module="firmwares/beth/overo_twist_controller" shortname="VM">
</dl_setting> </dl_setting>
<dl_setting var="controller.satval1" min="0" step="0.1" max="100" module="beth/overo_twist_controller" shortname="satval1"> <dl_setting var="controller.satval1" min="0" step="0.1" max="100" module="firmwares/beth/overo_twist_controller" shortname="satval1">
</dl_setting> </dl_setting>
<dl_setting var="controller.satval2" min="0.01" step="0.1" max="4" module="beth/overo_twist_controller" shortname="satval2"> <dl_setting var="controller.satval2" min="0.01" step="0.1" max="4" module="firmwares/beth/overo_twist_controller" shortname="satval2">
</dl_setting> </dl_setting>
<dl_setting var="controller.c" min="0.001" step="0.01" max="10" module="beth/overo_twist_controller" shortname="c"> <dl_setting var="controller.c" min="0.001" step="0.01" max="10" module="firmwares/beth/overo_twist_controller" shortname="c">
</dl_setting> </dl_setting>
<!--float ulim; 1 <!--float ulim; 1
sw/airborne/boards/olimex_lpc_h2148.h
+2
View File
@@ -16,5 +16,7 @@
#define LED_1_BANK 1 #define LED_1_BANK 1
#define LED_1_PIN 24 #define LED_1_PIN 24
#define LED_2_BANK 1
#define LED_2_PIN 23
#endif /* CONFIG_OLIMEX_H2148_H */ #endif /* CONFIG_OLIMEX_H2148_H */
sw/airborne/firmwares/beth/main_coders.c
+1 -1
View File
@@ -15,7 +15,7 @@
#include <string.h> #include <string.h>
#include "beth/bench_sensors.h" #include "firmwares/beth/bench_sensors.h"
/* /*
* *
sw/airborne/firmwares/beth/main_stm32.c
+1 -1
View File
@@ -33,7 +33,7 @@
//#include "booz/booz_radio_control.h" //#include "booz/booz_radio_control.h"
#include "subsystems/imu.h" #include "subsystems/imu.h"
#include "lisa/lisa_overo_link.h" #include "lisa/lisa_overo_link.h"
#include "beth/bench_sensors.h" #include "bench_sensors.h"
static inline void main_init( void ); static inline void main_init( void );
static inline void main_periodic( void ); static inline void main_periodic( void );
sw/airborne/firmwares/beth/overo_gcs_com.c
+2 -1
View File
@@ -10,11 +10,12 @@
#include "settings.h" #include "settings.h"
//bill laptop //bill laptop
#define GCS_HOST "10.31.4.5" //#define GCS_HOST "10.31.4.5"
//#define GCS_HOST "192.168.2.10" //#define GCS_HOST "192.168.2.10"
//#define GCS_HOST "192.168.2.1" //#define GCS_HOST "192.168.2.1"
//auto4 //auto4
//#define GCS_HOST "10.31.4.104" //#define GCS_HOST "10.31.4.104"
#define GCS_HOST "10.31.4.107"
#define GCS_PORT 4242 #define GCS_PORT 4242
#define DATALINK_PORT 4243 #define DATALINK_PORT 4243
sw/airborne/firmwares/vor/lpc_vor_convertions.c
+4 -1
View File
@@ -55,7 +55,7 @@ void vor_adc_init( void ) {
/* clear match */ /* clear match */
T0EMR &= ~TEMR_EM1; T0EMR &= ~TEMR_EM1;
/* set high on match 1 */ /* set high on match 1 */
T0EMR |= TEMR_EMC11; T0EMR |= (3<<6);//TEMR_EMC1_1;
/* first match in a while */ /* first match in a while */
T0MR1 = 1024; T0MR1 = 1024;
vor_adc_overrun = FALSE; vor_adc_overrun = FALSE;
@@ -64,6 +64,9 @@ void vor_adc_init( void ) {
void adcISR0 ( void ) { void adcISR0 ( void ) {
ISR_ENTRY(); ISR_ENTRY();
LED_TOGGLE(2);
uint32_t tmp = AD0GDR; uint32_t tmp = AD0GDR;
// uint32_t tmp = AD0DR3; // uint32_t tmp = AD0DR3;
// uint8_t channel = (uint8_t)(tmp >> 24) & 0x07; // uint8_t channel = (uint8_t)(tmp >> 24) & 0x07;
sw/airborne/firmwares/vor/lpc_vor_main.c
+5 -4
View File
@@ -17,23 +17,24 @@ static inline void main_report( void );
int main( void ) { int main( void ) {
main_init(); main_init();
while(1) { while(1) {
if (vor_adc_sample_available) { if (vor_adc_sample_available) {
int16_t off_sample = vor_adc_sample - 512; int16_t off_sample = vor_adc_sample - 512;
// off_sample *= 2; // off_sample *= 2;
vor_int_demod_run (off_sample); vor_int_demod_run (off_sample);
if (vid_qdr_available) { if (vid_qdr_available) {
vid_qdr_available = FALSE; vid_qdr_available = FALSE;
main_report(); main_report();
} }
VorDacSet(vor_adc_sample); VorDacSet(vor_adc_sample);
vor_adc_sample_available = FALSE; vor_adc_sample_available = FALSE;
} }
} }
return 0; return 0;
} }
sw/airborne/gps.c
+1 -1
View File
@@ -51,7 +51,7 @@
#ifdef FMS_PERIODIC_FREQ #ifdef FMS_PERIODIC_FREQ
#include "messages2.h" #include "messages2.h"
#include "beth/overo_gcs_com.h" #include "firmwares/beth/overo_gcs_com.h"
#define DefaultChannel gcs_com.udp_transport #define DefaultChannel gcs_com.udp_transport
#else #else
#define DOWNLINK_DEVICE DOWNLINK_GPS_DEVICE #define DOWNLINK_DEVICE DOWNLINK_GPS_DEVICE
sw/lib/ocaml/cserial.c
+1 -1
View File
@@ -70,7 +70,7 @@ value c_init_serial(value device, value speed)
cur_termios.c_lflag &= ~(ISIG|ICANON|IEXTEN|ECHO|FLUSHO|PENDIN); cur_termios.c_lflag &= ~(ISIG|ICANON|IEXTEN|ECHO|FLUSHO|PENDIN);
cur_termios.c_lflag |= NOFLSH; cur_termios.c_lflag |= NOFLSH;
if (cfsetispeed(&cur_termios, br)) failwith("setting modem serial device speed"); if (cfsetspeed(&cur_termios, br)) failwith("setting modem serial device speed");
if (tcsetattr(fd, TCSADRAIN, &cur_termios)) failwith("setting modem serial device attr"); if (tcsetattr(fd, TCSADRAIN, &cur_termios)) failwith("setting modem serial device attr");
sw/lib/ocaml/ivy/Makefile
+1 -1
View File
@@ -17,7 +17,7 @@ OCAMLFLAGS =
endif endif
OCAMLOPTFLAGS= OCAMLOPTFLAGS=
CFLAGS=-Wall CFLAGS+=-Wall
OCAMLINC=-I `ocamlc -where` OCAMLINC=-I `ocamlc -where`
GLIBINC=`pkg-config --cflags glib-2.0` GLIBINC=`pkg-config --cflags glib-2.0`
sw/lib/ocaml/ivy/civyloop.c
+1 -1
View File
@@ -25,7 +25,7 @@ value ivy_mainLoop(value unit)
void timer_cb(TimerId id, void *data, unsigned long delta) void timer_cb(TimerId id, void *data, unsigned long delta)
{ {
value closure = *(value*)data; value closure = *(value*)data;
callback(closure, Val_long((int) id)); callback(closure, Val_long(id));
} }
value ivy_timerRepeatafter(value nb_ticks,value delay, value closure_name) value ivy_timerRepeatafter(value nb_ticks,value delay, value closure_name)