mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 15:30:08 +08:00
Merge branch 'master' into nav
This commit is contained in:
Felix Ruess
@@ -1,33 +1,33 @@
|
||||
# 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
|
||||
# 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,
|
||||
# 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
|
||||
# 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.
|
||||
|
||||
|
||||
Intro
|
||||
-----
|
||||
|
||||
Paparazzi is an attempt to develop a cheap fixed wing UAV (Unmanned Air
|
||||
Vehicle). As of today we have successfully flown autonomously several small
|
||||
electro powered fixed wing aircraft (Twinstar, Microjet, ...).
|
||||
Paparazzi is an attempt to develop a free software Unmanned (Air) Vehicle System.
|
||||
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).
|
||||
|
||||
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 the IRC channel (freenode, #paparazzi).
|
||||
@@ -62,15 +62,18 @@ For Debian or Ubuntu users, required packages are available at
|
||||
|
||||
http://paparazzi.enac.fr/debian
|
||||
|
||||
Installation of the meta-package "paparazzi-dev" will install
|
||||
everything needed to compile this project (if something is missing,
|
||||
please ask) for simulation. "paparazzi-arm7" is required to compile
|
||||
the code for the ARM based boards.
|
||||
|
||||
- "paparazzi-dev" will provide everything needed to compile and run the ground segment and the simulator. If something is missing, please report it.
|
||||
- "paparazzi-arm7" is required to compile the code for LPC21 based boards ( tiny, twog, booz, etc).
|
||||
- "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
|
||||
-------------------------------
|
||||
|
||||
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
|
||||
|
||||
|
||||
@@ -93,11 +93,12 @@ ARCH=stm32
|
||||
FLASH_MODE = JTAG
|
||||
|
||||
SRC_ARCH = $(ARCH)
|
||||
SRC_BETH=beth
|
||||
SRC_BETH=firmwares/beth
|
||||
SRC_BOOZ=booz
|
||||
SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH)
|
||||
SRC_LISA=lisa
|
||||
SRC_LISA_ARCH=$(SRC_LISA)/arch/$(ARCH)
|
||||
SRC_FIRMWARE=subsystems
|
||||
|
||||
main_stm32.ARCHDIR = stm32
|
||||
#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
|
||||
main_stm32.srcs += math/pprz_trig_int.c
|
||||
main_stm32.CFLAGS += -DIMU_TYPE_H=\"imu/imu_crista.h\" -DIMU_OVERRIDE_CHANNELS
|
||||
main_stm32.srcs += $(SRC_FIRMWARE)/imu.c \
|
||||
$(SRC_FIRMWARE)/imu/imu_crista.c \
|
||||
$(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_crista_arch.c
|
||||
main_stm32.srcs += subsystems/imu.c \
|
||||
subsystems/imu/imu_crista.c \
|
||||
arch/$(ARCH)/subsystems/imu/imu_crista_arch.c
|
||||
main_stm32.CFLAGS += -DUSE_DMA1_C4_IRQ
|
||||
|
||||
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
|
||||
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>
|
||||
|
||||
|
||||
@@ -4,13 +4,12 @@
|
||||
|
||||
ARCH=lpc21
|
||||
|
||||
VOR=vor
|
||||
|
||||
FLASH_MODE = IAP
|
||||
main.ARCHDIR = $(ARCH)
|
||||
|
||||
main.CFLAGS += -DBOARD_CONFIG=\"conf_demo.h\"
|
||||
main.srcs = $(VOR)/lpc_vor_main.c
|
||||
main.CFLAGS += -DBOARD_CONFIG=\"boards/olimex_lpc_h2148.h\"
|
||||
main.srcs = firmwares/vor/lpc_vor_main.c
|
||||
|
||||
main.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./29880.)'
|
||||
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 += $(VOR)/lpc_vor_convertions.c
|
||||
main.srcs += firmwares/vor/lpc_vor_convertions.c
|
||||
|
||||
main.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B9600
|
||||
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.srcs += downlink.c pprz_transport.c
|
||||
|
||||
main.srcs += $(VOR)/vor_int_demod_decim.c
|
||||
main.srcs += firmwares/vor/vor_int_demod_decim.c
|
||||
|
||||
|
||||
</makefile>
|
||||
|
||||
@@ -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 */
|
||||
+11
-1
@@ -743,7 +743,12 @@
|
||||
</message>
|
||||
|
||||
<!--113 is free -->
|
||||
<!--114 is free -->
|
||||
|
||||
<message name="PAYLOAD" id="114">
|
||||
<field name="values" type="uint8[]" unit="none"/>
|
||||
</message>
|
||||
|
||||
|
||||
<!--115 is free -->
|
||||
<!--116 is free -->
|
||||
<!--117 is free -->
|
||||
@@ -1931,6 +1936,11 @@
|
||||
<field name="TURN" type="uint16"/>
|
||||
</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">
|
||||
<field name="value" type="uint16"/>
|
||||
<field name="no" type="uint8"/>
|
||||
|
||||
@@ -4,7 +4,7 @@
|
||||
<dl_settings>
|
||||
<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>
|
||||
|
||||
@@ -4,24 +4,24 @@
|
||||
<dl_settings>
|
||||
<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 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 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 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 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 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 var="controller.armed" min="0" step="1" max="2" shortname ="mode"/>
|
||||
|
||||
@@ -4,24 +4,24 @@
|
||||
<dl_settings>
|
||||
<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 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 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 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 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 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 var="controller.armed" min="0" step="1" max="2" shortname ="mode"/>
|
||||
|
||||
@@ -4,7 +4,7 @@
|
||||
<dl_settings>
|
||||
<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>
|
||||
|
||||
@@ -4,27 +4,27 @@
|
||||
<dl_settings>
|
||||
<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 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 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 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 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 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 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>
|
||||
|
||||
@@ -4,37 +4,37 @@
|
||||
<dl_settings>
|
||||
<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 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 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 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 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 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 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 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 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 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 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 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>
|
||||
|
||||
<!--float ulim; 1
|
||||
|
||||
@@ -4,37 +4,37 @@
|
||||
<dl_settings>
|
||||
<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 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 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 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 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 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 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 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 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 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 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 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>
|
||||
|
||||
<!--float ulim; 1
|
||||
|
||||
@@ -16,5 +16,7 @@
|
||||
#define LED_1_BANK 1
|
||||
#define LED_1_PIN 24
|
||||
|
||||
#define LED_2_BANK 1
|
||||
#define LED_2_PIN 23
|
||||
|
||||
#endif /* CONFIG_OLIMEX_H2148_H */
|
||||
|
||||
@@ -15,7 +15,7 @@
|
||||
|
||||
#include <string.h>
|
||||
|
||||
#include "beth/bench_sensors.h"
|
||||
#include "firmwares/beth/bench_sensors.h"
|
||||
|
||||
/*
|
||||
*
|
||||
|
||||
@@ -33,7 +33,7 @@
|
||||
//#include "booz/booz_radio_control.h"
|
||||
#include "subsystems/imu.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_periodic( void );
|
||||
|
||||
@@ -10,11 +10,12 @@
|
||||
#include "settings.h"
|
||||
|
||||
//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 "192.168.2.1"
|
||||
//auto4
|
||||
//#define GCS_HOST "10.31.4.104"
|
||||
#define GCS_HOST "10.31.4.107"
|
||||
#define GCS_PORT 4242
|
||||
#define DATALINK_PORT 4243
|
||||
|
||||
|
||||
@@ -55,7 +55,7 @@ void vor_adc_init( void ) {
|
||||
/* clear match */
|
||||
T0EMR &= ~TEMR_EM1;
|
||||
/* set high on match 1 */
|
||||
T0EMR |= TEMR_EMC11;
|
||||
T0EMR |= (3<<6);//TEMR_EMC1_1;
|
||||
/* first match in a while */
|
||||
T0MR1 = 1024;
|
||||
vor_adc_overrun = FALSE;
|
||||
@@ -64,6 +64,9 @@ void vor_adc_init( void ) {
|
||||
|
||||
void adcISR0 ( void ) {
|
||||
ISR_ENTRY();
|
||||
|
||||
LED_TOGGLE(2);
|
||||
|
||||
uint32_t tmp = AD0GDR;
|
||||
// uint32_t tmp = AD0DR3;
|
||||
// uint8_t channel = (uint8_t)(tmp >> 24) & 0x07;
|
||||
|
||||
@@ -17,6 +17,7 @@ static inline void main_report( void );
|
||||
|
||||
int main( void ) {
|
||||
main_init();
|
||||
|
||||
while(1) {
|
||||
if (vor_adc_sample_available) {
|
||||
int16_t off_sample = vor_adc_sample - 512;
|
||||
@@ -32,8 +33,8 @@ int main( void ) {
|
||||
VorDacSet(vor_adc_sample);
|
||||
vor_adc_sample_available = FALSE;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
+1
-1
@@ -51,7 +51,7 @@
|
||||
|
||||
#ifdef FMS_PERIODIC_FREQ
|
||||
#include "messages2.h"
|
||||
#include "beth/overo_gcs_com.h"
|
||||
#include "firmwares/beth/overo_gcs_com.h"
|
||||
#define DefaultChannel gcs_com.udp_transport
|
||||
#else
|
||||
#define DOWNLINK_DEVICE DOWNLINK_GPS_DEVICE
|
||||
|
||||
@@ -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 |= 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");
|
||||
|
||||
|
||||
@@ -17,7 +17,7 @@ OCAMLFLAGS =
|
||||
endif
|
||||
|
||||
OCAMLOPTFLAGS=
|
||||
CFLAGS=-Wall
|
||||
CFLAGS+=-Wall
|
||||
OCAMLINC=-I `ocamlc -where`
|
||||
GLIBINC=`pkg-config --cflags glib-2.0`
|
||||
|
||||
|
||||
@@ -25,7 +25,7 @@ value ivy_mainLoop(value unit)
|
||||
void timer_cb(TimerId id, void *data, unsigned long delta)
|
||||
{
|
||||
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)
|
||||
|
||||
Reference in New Issue
Block a user