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Merge branch 'v3.9'

Browse Source 
* a lot of conf stuff cleaned up
  * moved all example airframes to conf/examples
  * subsystem makefiles now in conf/firmwares/subsystems instead of conf/autopilot/subsystems
  * serious cleanup for settings files
* doc nodes for modules
* LED numbering from 1-5 for Lisa/M 2.0
This commit is contained in:
Felix Ruess
2012-05-09 01:39:54 +02:00
parent 291c6930e3 be549a4864
commit d7915568f2
445 changed files with 2328 additions and 1812 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/CDW/LisaAspirin2.xml
+1 -1
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@@ -223,7 +223,7 @@
<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" /> <define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" />
</subsystem> </subsystem>
--> -->
<subsystem name="imu" type="aspirin_v2.0"/> <subsystem name="imu" type="aspirin_v2.1"/>
<subsystem name="ahrs" type="float_dcm"> <subsystem name="ahrs" type="float_dcm">
<configure name="USE_MAGNETOMETER" value="0"/> <configure name="USE_MAGNETOMETER" value="0"/>
</subsystem> </subsystem>
conf/airframes/ENAC/fixed-wing/obsolete/drops.xml
+2 -2
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@@ -213,7 +213,7 @@ on<!DOCTYPE airframe SYSTEM "airframe.dtd">
<makefile> <makefile>
CONFIG = \"tiny_2_1.h\" CONFIG = \"tiny_2_1.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
FLASH_MODE=IAP FLASH_MODE=IAP
@@ -262,7 +262,7 @@ ap.srcs += subsystems/navigation/bomb.c
ap.srcs += subsystems/navigation/snav.c ap.srcs += subsystems/navigation/snav.c
# Config for SITL simulation # Config for SITL simulation
# include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile # include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
sim.ARCHDIR = $(ARCHI) sim.ARCHDIR = $(ARCHI)
sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml
+2 -2
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@@ -217,7 +217,7 @@
<makefile> <makefile>
CONFIG = \"tiny_2_1.h\" CONFIG = \"tiny_2_1.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
FLASH_MODE=IAP FLASH_MODE=IAP
@@ -285,7 +285,7 @@ ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150
# Config for SITL simulation # Config for SITL simulation
#include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile #include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
sim.ARCHDIR = $(ARCHI) sim.ARCHDIR = $(ARCHI)
sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml
+1 -1
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@@ -204,7 +204,7 @@
<makefile> <makefile>
# Config for SITL simulation with JSBSim # Config for SITL simulation with JSBSim
include $(PAPARAZZI_SRC)/conf/autopilot/sitl_jsbsim.makefile include $(PAPARAZZI_SRC)/conf/firmwares/sitl_jsbsim.makefile
sim.CFLAGS += -I/home/cocoleon/usr/include/JSBSim sim.CFLAGS += -I/home/cocoleon/usr/include/JSBSim
sim.LDFLAGS += -L/home/cocoleon/usr/lib/ sim.LDFLAGS += -L/home/cocoleon/usr/lib/
conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml
+2 -2
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@@ -187,7 +187,7 @@
<makefile> <makefile>
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
FLASH_MODE=IAP FLASH_MODE=IAP
@@ -259,7 +259,7 @@ ap.CFLAGS += -D BARO_MS5534A_W1=0xAC20 -D BARO_MS5534A_W2=0x87D9 -D BARO_MS5534A
# Config for SITL simulation # Config for SITL simulation
# Config for SITL simulation # Config for SITL simulation
#include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile #include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
sim.ARCHDIR = $(ARCHI) sim.ARCHDIR = $(ARCHI)
sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml
+2 -2
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@@ -202,7 +202,7 @@
<makefile> <makefile>
CONFIG = \"tiny_1_1.h\" CONFIG = \"tiny_1_1.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
FLASH_MODE=IAP FLASH_MODE=IAP
@@ -251,7 +251,7 @@ ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150
ap.CFLAGS += -DUSE_MODULES ap.CFLAGS += -DUSE_MODULES
# Config for SITL simulation # Config for SITL simulation
#include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile #include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
sim.ARCHDIR = $(ARCHI) sim.ARCHDIR = $(ARCHI)
sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml
+3 -3
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@@ -208,7 +208,7 @@
<makefile> <makefile>
CONFIG = \"tiny_2_1_1.h\" CONFIG = \"tiny_2_1_1.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
FLASH_MODE=IAP FLASH_MODE=IAP
@@ -251,7 +251,7 @@ ap.srcs += gyro.c
ap.CFLAGS += -DUSE_ADC_3 -DADC_CHANNEL_CURRENT=ADC_3 ap.CFLAGS += -DUSE_ADC_3 -DADC_CHANNEL_CURRENT=ADC_3
# Config for SITL simulation # Config for SITL simulation
#include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile #include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
sim.ARCHDIR = $(ARCHI) sim.ARCHDIR = $(ARCHI)
sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
@@ -261,7 +261,7 @@ sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
# Config for JSBSim simulation # Config for JSBSim simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl_jsbsim.makefile include $(PAPARAZZI_SRC)/conf/firmwares/sitl_jsbsim.makefile
jsbsim.CFLAGS += -I/home/cocoleon/usr/include/JSBSim jsbsim.CFLAGS += -I/home/cocoleon/usr/include/JSBSim
jsbsim.LDFLAGS += -L/home/cocoleon/usr/lib/ jsbsim.LDFLAGS += -L/home/cocoleon/usr/lib/
conf/airframes/ENAC/fixed-wing/soarzi.xml
+2 -2
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@@ -175,7 +175,7 @@
</section> </section>
<makefile> <makefile>
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
FLASH_MODE=IAP FLASH_MODE=IAP
@@ -218,7 +218,7 @@ ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c subsystems/navigation/nav_surv
ap.CFLAGS += -DUSE_ADC_6 -DADC_CHANNEL_CURRENT=ADC_6 ap.CFLAGS += -DUSE_ADC_6 -DADC_CHANNEL_CURRENT=ADC_6
# Config for SITL simulation # Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
conf/airframes/Poine/beth.xml
+1 -1
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@@ -314,7 +314,7 @@ overo_sfb.srcs += $(SRC_BETH)/overo_sfb_controller.c
# #
# #
# #
include $(PAPARAZZI_SRC)/conf/autopilot/obsolete/lisa_test_progs.makefile include $(PAPARAZZI_SRC)/conf/firmwares/obsolete/lisa_test_progs.makefile
</makefile> </makefile>
conf/airframes/Poine/easy_glider1.xml
+2 -2
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@@ -155,7 +155,7 @@
<makefile> <makefile>
CONFIG=\"tiny_0_99.h\" CONFIG=\"tiny_0_99.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
FLASH_MODE=IAP FLASH_MODE=IAP
@@ -202,7 +202,7 @@ ap.srcs += adc_generic.c
# ap.CFLAGS += -DHITL -UGPS_CONFIGURE -UUART0_BAUD -DUART0_BAUD=B57600 # ap.CFLAGS += -DHITL -UGPS_CONFIGURE -UUART0_BAUD -DUART0_BAUD=B57600
# Config for SITL simulation # Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c subsystems/navigation/traffic_info.c sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c subsystems/navigation/traffic_info.c
conf/airframes/Poine/h_hex.xml
-10
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@@ -1,15 +1,6 @@
<!-- this is a custom hexa Lisa/L#3 and mikrokopter controllers --> <!-- this is a custom hexa Lisa/L#3 and mikrokopter controllers -->
<airframe name="booz2_a6"> <airframe name="booz2_a6">
<servos min="0" neutral="0" max="0xff">
<servo name="BACK_RIGHT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK_LEFT" no="1" min="0" neutral="0" max="255"/>
<servo name="CENTER_RIGHT" no="2" min="0" neutral="0" max="255"/>
<servo name="CENTER_LEFT" no="3" min="0" neutral="0" max="255"/>
<servo name="FRONT_RIGHT" no="4" min="0" neutral="0" max="255"/>
<servo name="FRONT_LEFT" no="5" min="0" neutral="0" max="255"/>
</servos>
<commands> <commands>
<axis name="PITCH" failsafe_value="0"/> <axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/> <axis name="ROLL" failsafe_value="0"/>
@@ -153,7 +144,6 @@
<define name="RC_CLIMB_COEF" value ="163"/> <define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% --> <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/> <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="INV_M" value ="0.2"/>
</section> </section>
conf/airframes/esden/lisa_m_2_asp_2_pwm.xml
+1 -1
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@@ -200,7 +200,7 @@
<subsystem name="actuators" type="mkk"/> <subsystem name="actuators" type="mkk"/>
</target> </target>
<subsystem name="imu" type="aspirin_v2.0"/> <subsystem name="imu" type="aspirin_v2.1"/>
<subsystem name="gps" type="ublox"/> <subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/> <subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/> <subsystem name="ahrs" type="int_cmpl_quat"/>
conf/airframes/examples/airframe.dtd
Symlink
+1
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@@ -0,0 +1 @@
../airframe.dtd
conf/airframes/examples/booz2.xml
+213
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@@ -0,0 +1,213 @@
<airframe name="BOOZ2_a1">
<servos min="0" neutral="0" max="0xff">
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" min="0" neutral="0" max="255"/>
<servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
<servo name="LEFT" no="3" min="0" neutral="0" max="255"/>
</servos>
<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<!-- not needed anymore - in subsystem -->
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
<define name="NB" value="4"/>
<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
</section>
<!-- -->
<section name="SUPERVISION" prefix="SUPERVISION_">
<define name="MIN_MOTOR" value="2"/>
<define name="MAX_MOTOR" value="210"/>
<define name="TRIM_A" value="0"/>
<define name="TRIM_E" value="0"/>
<define name="TRIM_R" value="0"/>
<define name="NB_MOTOR" value="4"/>
<define name="SCALE" value="256"/>
<define name="ROLL_COEF" value="{ 0, 0, -256, 256}"/>
<define name="PITCH_COEF" value="{ 256, -256, 0, 0}"/>
<define name="YAW_COEF" value="{ -256, -256, 256, 256}"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/>
</section>
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_NEUTRAL" value="33924"/>
<define name="GYRO_Q_NEUTRAL" value="33417"/>
<define name="GYRO_R_NEUTRAL" value="32809"/>
<define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
<define name="GYRO_Q_SENS" value=" 1.01" integer="16"/>
<define name="GYRO_R_SENS" value=" 1.01" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="32081"/>
<define name="ACCEL_Y_NEUTRAL" value="33738"/>
<define name="ACCEL_Z_NEUTRAL" value="32441"/>
<define name="ACCEL_X_SENS" value="2.50411474" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.48126183" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.51396167" integer="16"/>
<define name="MAG_X_CHAN" value="4"/>
<define name="MAG_Y_CHAN" value="0"/>
<define name="MAG_Z_CHAN" value="2"/>
<define name="MAG_X_NEUTRAL" value="2358"/>
<define name="MAG_Y_NEUTRAL" value="2362"/>
<define name="MAG_Z_NEUTRAL" value="2119"/>
<!-- <define name="MAG_X_SENS" value="-4.94075530" integer="16"/>-->
<!-- <define name="MAG_Y_SENS" value=" 5.10207664" integer="16"/>-->
<define name="MAG_X_SIGN" value="-1"/>
<define name="MAG_Y_SIGN" value=" 1"/>
<define name="MAG_Z_SIGN" value="-1"/>
<define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
<define name="MAG_45_HACK" value="1"/>
<!-- <define name="MAG_X_SENS" value="-4.94075530 * sqrt(2)/2" integer="16"/> -->
<!-- <define name="MAG_Y_SENS" value=" 5.10207664 * sqrt(2)/2" integer="16"/> -->
<define name="MAG_X_SENS" value=" 3.4936416" integer="16"/>
<define name="MAG_Y_SENS" value=" 3.607713" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="4." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="3." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
<!--
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
-->
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="45." unit="deg"/>
<define name="SP_MAX_THETA" value="45." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="DEADBAND_R" value="250"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.9"/>
<define name="REF_MAX_P" value="300." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.9"/>
<define name="REF_MAX_Q" value="300." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.9"/>
<define name="REF_MAX_R" value="180." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="380"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="75"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
<define name="THETA_DDGAIN" value=" 300"/>
<define name="PSI_DDGAIN" value=" 300"/>
</section>
<section name="INS" prefix="INS_">
<define name="BARO_SENS" value="15." integer="16"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="200"/>
<define name="HOVER_KI" value="100"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<!-- <define name="INV_M" value ="0.2"/> -->
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_RC_CLIMB"/>
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/>
</section>
<section name="FMS">
</section>
<section name="MISC">
<define name="FACE_REINJ_1" value="1024"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
<firmware name="rotorcraft">
<target name="ap" board="booz_1.0"/>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
</target>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="actuators" type="mkk"/>
<subsystem name="imu" type="b2_v1.0"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/>
<subsystem name="ins" type="hff"/>
</firmware>
</airframe>
conf/airframes/delta_wing_minimal_example.xml → conf/airframes/examples/delta_wing_minimal.xml
View File
conf/airframes/demo.xml → conf/airframes/examples/demo.xml
View File
conf/airframes/demo_module.xml → conf/airframes/examples/demo_module.xml
+2 -2
View File
@@ -160,7 +160,7 @@
<makefile> <makefile>
CONFIG = \"tiny_2_1_1.h\" CONFIG = \"tiny_2_1_1.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
FLASH_MODE=IAP FLASH_MODE=IAP
@@ -203,7 +203,7 @@ ap.srcs += subsystems/navigation/nav_line.c
# Config for SITL simulation # Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
conf/airframes/easy_glider_example.xml → conf/airframes/examples/easy_glider.xml
+1 -1
View File
@@ -1,4 +1,4 @@
<!DOCTYPE airframe SYSTEM "./airframe.dtd"> <!DOCTYPE airframe SYSTEM "airframe.dtd">
<airframe name="Easy Glider Tiny 0.99"> <airframe name="Easy Glider Tiny 0.99">
conf/airframes/easystar_example.xml → conf/airframes/examples/easystar.xml
View File
conf/airframes/easystar_ets_example.xml → conf/airframes/examples/easystar_ets.xml
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conf/airframes/funjet_example.xml → conf/airframes/examples/funjet.xml
View File
conf/airframes/funjet_cam_example.xml → conf/airframes/examples/funjet_cam.xml
View File
conf/airframes/examples/h_hex.xml
+206
View File
@@ -0,0 +1,206 @@
<!-- this is a custom hexa Lisa/L#3 and mikrokopter controllers -->
<airframe name="booz2_a6">
<servos min="0" neutral="0" max="0xff">
<servo name="BACK_RIGHT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK_LEFT" no="1" min="0" neutral="0" max="255"/>
<servo name="CENTER_RIGHT" no="2" min="0" neutral="0" max="255"/>
<servo name="CENTER_LEFT" no="3" min="0" neutral="0" max="255"/>
<servo name="FRONT_RIGHT" no="4" min="0" neutral="0" max="255"/>
<servo name="FRONT_LEFT" no="5" min="0" neutral="0" max="255"/>
</servos>
<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
<define name="NB" value="6"/>
<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58, 0x5A, 0X5C }"/>
</section>
<section name="SUPERVISION" prefix="SUPERVISION_">
<define name="MIN_MOTOR" value="2"/>
<define name="MAX_MOTOR" value="210"/>
<define name="TRIM_A" value="0"/>
<define name="TRIM_E" value="0"/>
<define name="TRIM_R" value="0"/>
<define name="NB_MOTOR" value="6"/>
<define name="SCALE" value="256"/>
<define name="ROLL_COEF" value="{ -69, 69, -256, 256, -186, 186 }"/>
<define name="PITCH_COEF" value="{ -256, -256, 0, 0, 256, 256 }"/>
<define name="YAW_COEF" value="{ -153, 153, 256, -256, -115, 115 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256, 256, 256 }"/>
</section>
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_NEUTRAL" value="31948"/>
<define name="GYRO_Q_NEUTRAL" value="31834"/>
<define name="GYRO_R_NEUTRAL" value="32687"/>
<define name="GYRO_P_SENS" value=" 1.101357422" integer="16"/>
<define name="GYRO_Q_SENS" value=" 1.122670898" integer="16"/>
<define name="GYRO_R_SENS" value=" 1.104890137" integer="16"/>
<define name="ACCEL_X_SENS" value=" 2.58273701242" integer="16"/>
<define name="ACCEL_Y_SENS" value=" 2.54076215332" integer="16"/>
<define name="ACCEL_Z_SENS" value=" 2.57633620646" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="32857"/>
<define name="ACCEL_Y_NEUTRAL" value="32429"/>
<define name="ACCEL_Z_NEUTRAL" value="32593"/>
<define name="MAG_X_SENS" value=" 5.32718104135" integer="16"/>
<define name="MAG_Y_SENS" value=" 4.87857821202" integer="16"/>
<define name="MAG_Z_SENS" value=" 3.11986612709" integer="16"/>
<define name="MAG_X_NEUTRAL" value="-43"/>
<define name="MAG_Y_NEUTRAL" value=" 49"/>
<define name="MAG_Z_NEUTRAL" value="-66"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="90." unit="deg"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_DIRECT"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="45." unit="deg"/>
<define name="SP_MAX_THETA" value="45." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="DEADBAND_R" value="250"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="300." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="300." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="180." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="380"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="75"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
<define name="THETA_DDGAIN" value=" 300"/>
<define name="PSI_DDGAIN" value=" 300"/>
</section>
<section name="INS" prefix="INS_">
<define name="BARO_SENS" value="15." integer="16"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="200"/>
<define name="HOVER_KI" value="100"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="INV_M" value ="0.2"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
<section name="MISC">
<define name="FACE_REINJ_1" value="1024"/>
</section>
<firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.0">
<!-- <define name="ACTUATORS_START_DELAY" value="1"/> -->
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="actuators" type="mkk"/>
</target>
<subsystem name="telemetry" type="transparent"/>
<!-- <subsystem name="imu" type="b2_v1.1"/> -->
<subsystem name="imu" type="aspirin_v1.0"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/>
</firmware>
<firmware name="lisa_test_progs">
<target name="test_telemetry" board="lisa_l_1.0"/>
<target name="test_baro" board="lisa_l_1.0"/>
<target name="test_imu_b2" board="lisa_l_1.0"/>
<target name="test_imu_aspirin" board="lisa_l_1.0"/>
<target name="test_rc_spektrum" board="lisa_l_1.0"/>
<target name="test_rc_ppm" board="lisa_l_1.0"/>
<target name="test_adc" board="lisa_l_1.0"/>
<target name="test_hmc5843" board="lisa_l_1.0"/>
<target name="test_itg3200" board="lisa_l_1.0"/>
<target name="test_adxl345" board="lisa_l_1.0"/>
<target name="test_esc_mkk_simple" board="lisa_l_1.0"/>
<target name="test_esc_asctecv1_simple" board="lisa_l_1.0"/>
<target name="test_actuators_mkk" board="lisa_l_1.0"/>
<target name="test_actuators_asctecv1" board="lisa_l_1.0"/>
</firmware>
</airframe>
conf/airframes/examples/lisa_asctec.xml
+226
View File
@@ -0,0 +1,226 @@
<!-- this is an asctec frame equiped with Lisa/L#3 and asctec V2 controllers -->
<airframe name="lisa_asctec">
<servos min="0" neutral="0" max="0xff">
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" min="0" neutral="0" max="255"/>
<servo name="LEFT" no="2" min="0" neutral="0" max="255"/>
<servo name="RIGHT" no="3" min="0" neutral="0" max="255"/>
</servos>
<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<!-- for the sim -->
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
<define name="NB" value="4"/>
<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
</section>
<section name="SUPERVISION" prefix="SUPERVISION_">
<define name="MIN_MOTOR" value="3"/>
<define name="MAX_MOTOR" value="200"/>
<define name="TRIM_A" value="0"/>
<define name="TRIM_E" value="0"/>
<define name="TRIM_R" value="0"/>
<define name="NB_MOTOR" value="4"/>
<define name="SCALE" value="256"/>
<define name="ROLL_COEF" value="{ 0 , 0, 256, -256 }"/>
<define name="PITCH_COEF" value="{ 256, -256, 0, 0 }"/>
<define name="YAW_COEF" value="{ -256, -256, 256, 256 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
</section>
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_NEUTRAL" value="32276"/>
<define name="GYRO_Q_NEUTRAL" value="33987"/>
<define name="GYRO_R_NEUTRAL" value="32801"/>
<define name="GYRO_P_SENS" value="0.92466" integer="16"/>
<define name="GYRO_Q_SENS" value="0.93226" integer="16"/>
<define name="GYRO_R_SENS" value="0.92943" integer="16"/>
<define name="GYRO_PQ_SENS" value="0.0" integer="16"/>
<define name="GYRO_PR_SENS" value="0.0" integer="16"/>
<define name="GYRO_QR_SENS" value="0.0" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="25875"/>
<define name="ACCEL_Y_NEUTRAL" value="26273"/>
<define name="ACCEL_Z_NEUTRAL" value="26152"/>
<define name="ACCEL_X_SENS" value="1.8788156268" integer="16"/>
<define name="ACCEL_Y_SENS" value="1.88941543145" integer="16"/>
<define name="ACCEL_Z_SENS" value="1.90349115464" integer="16"/>
<define name="ACCEL_XY_SENS" value="0.0" integer="16"/>
<define name="ACCEL_XZ_SENS" value="0.0" integer="16"/>
<define name="ACCEL_YZ_SENS" value="0.0" integer="16"/>
<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>
<define name="MAG_X_SENS" value="1." integer="16"/>
<define name="MAG_Y_SENS" value="1." integer="16"/>
<define name="MAG_Z_SENS" value="1." integer="16"/>
<define name="BODY_TO_IMU_PHI" value="0. " unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0. " unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="45. " unit="deg"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_HOVER_Z_HOLD"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="45." unit="deg"/>
<define name="SP_MAX_THETA" value="45." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="DEADBAND_R" value="250"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="300." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="300." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="180." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="900"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="900"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="900"/>
<define name="PSI_DGAIN" value="200"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 200"/>
<define name="THETA_DDGAIN" value=" 200"/>
<define name="PSI_DDGAIN" value=" 200"/>
</section>
<section name="INS" prefix="INS_">
<define name="BARO_SENS" value="10." integer="16"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="200"/>
<define name="HOVER_KI" value="100"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="INV_M" value ="0.2"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
<section name="MISC">
<define name="FACE_REINJ_1" value="1024"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
<modules main_freq="512">
<!--load name="vehicle_interface_overo_link.xml"/-->
</modules>
<firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.1">
<!-- <define name="ACTUATORS_START_DELAY" value="1"/> -->
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="actuators" type="asctec_v2"/>
<subsystem name="telemetry" type="transparent"/>
<define name="RADIO_MODE" value="RADIO_AUX2"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/>
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
</target>
<subsystem name="imu" type="b2_v1.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/>
</firmware>
<firmware name="lisa_test_progs">
<target name="test_led" board="lisa_l_1.1"/>
<target name="test_uart" board="lisa_l_1.1"/>
<target name="test_servos" board="lisa_l_1.1"/>
<target name="test_telemetry" board="lisa_l_1.1"/>
<target name="test_baro" board="lisa_l_1.1"/>
<target name="test_imu_b2" board="lisa_l_1.1"/>
<target name="test_imu_b2_2" board="lisa_l_1.1"/>
<target name="test_imu_aspirin" board="lisa_l_1.1"/>
<target name="test_rc_spektrum" board="lisa_l_1.1"/>
<target name="test_rc_ppm" board="lisa_l_1.1"/>
<target name="test_adc" board="lisa_l_1.1"/>
<target name="test_hmc5843" board="lisa_l_1.1"/>
<target name="test_itg3200" board="lisa_l_1.1"/>
<target name="test_adxl345" board="lisa_l_1.1"/>
<target name="test_esc_mkk_simple" board="lisa_l_1.1"/>
<target name="test_esc_asctecv1_simple" board="lisa_l_1.1"/>
<target name="test_actuators_mkk" board="lisa_l_1.1"/>
<target name="test_actuators_asctecv1" board="lisa_l_1.1"/>
</firmware>
</airframe>
conf/airframes/microjet_example.xml → conf/airframes/examples/microjet.xml
View File
conf/airframes/examples/quadrotor_lisa_m_2_pwm.xml
+208
View File
@@ -0,0 +1,208 @@
<!-- this is a quadrotor frame equiped with Lisa/M and MKK motor controllers -->
<airframe name="fraser">
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0">
<define name="ACTUATORS_START_DELAY" value="3"/>
<configure name="AHRS_ALIGNER_LED" value="3"/>
<subsystem name="actuators" type="pwm_supervision"/>
<define name="SERVO_HZ" value="400"/>
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="actuators" type="mkk"/>
</target>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="imu" type="aspirin_v2.0"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
</firmware>
<servos min="0" neutral="0" max="0xff">
<servo name="FRONT" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="BACK" no="1" min="1000" neutral="1000" max="2000"/>
<servo name="RIGHT" no="2" min="1000" neutral="1000" max="2000"/>
<servo name="LEFT" no="3" min="1000" neutral="1000" max="2000"/>
</servos>
<commands>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<command_laws>
<!-- command_laws is needed for pwm_supervision -->
<!-- but can be empty if no additional servos are used -->
</command_laws>
<!-- only for the nps sim -->
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
<define name="NB" value="4"/>
<!-- FRONT, BACK, RIGHT, LEFT -->
<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
</section>
<section name="SUPERVISION" prefix="SUPERVISION_">
<define name="STOP_MOTOR" value="1000"/>
<define name="MIN_MOTOR" value="1100"/>
<define name="MAX_MOTOR" value="1900"/>
<define name="TRIM_A" value="0"/>
<define name="TRIM_E" value="0"/>
<define name="TRIM_R" value="0"/>
<define name="NB_MOTOR" value="4"/>
<define name="SCALE" value="256"/>
<!-- front/back turning CW, right/left CCW -->
<define name="ROLL_COEF" value="{ 0, 0, -256, 256 }"/>
<define name="PITCH_COEF" value="{ 256, -256, 0, 0 }"/>
<define name="YAW_COEF" value="{ -256, -256, 256, 256 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
</section>
<section name="IMU" prefix="IMU_">
<define name="ACCEL_X_NEUTRAL" value="11"/>
<define name="ACCEL_Y_NEUTRAL" value="11"/>
<define name="ACCEL_Z_NEUTRAL" value="-25"/>
<!-- replace this with your own calibration -->
<define name="MAG_X_NEUTRAL" value="-152"/>
<define name="MAG_Y_NEUTRAL" value="-51"/>
<define name="MAG_Z_NEUTRAL" value="10"/>
<define name="MAG_X_SENS" value="4.04042714046" integer="16"/>
<define name="MAG_Y_SENS" value="3.95350991963" integer="16"/>
<define name="MAG_Z_SENS" value="3.83055079257" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="-45." unit="deg"/>
</section>
<section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="H_X" value="0.3770441"/>
<define name="H_Y" value="0.0193986"/>
<define name="H_Z" value="0.9259921"/>
</section>
<section name="INS" prefix="INS_">
<define name="BARO_SENS" value="22.3" integer="16"/>
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<!-- setpoints -->
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="DEADBAND_P" value="20"/>
<define name="DEADBAND_Q" value="20"/>
<define name="DEADBAND_R" value="200"/>
<define name="REF_TAU" value="4"/>
<!-- feedback -->
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
<define name="IGAIN_P" value="75"/>
<define name="IGAIN_Q" value="75"/>
<define name="IGAIN_R" value="50"/>
<!-- feedforward -->
<define name="DDGAIN_P" value="300"/>
<define name="DDGAIN_Q" value="300"/>
<define name="DDGAIN_R" value="300"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="45." unit="deg"/>
<define name="SP_MAX_THETA" value="45." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="DEADBAND_A" value="0"/>
<define name="DEADBAND_E" value="0"/>
<define name="DEADBAND_R" value="250"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="400." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="400." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="180." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="1000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="1000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="500"/>
<define name="PSI_DGAIN" value="300"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value="300"/>
<define name="THETA_DDGAIN" value="300"/>
<define name="PSI_DDGAIN" value="300"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="USE_REF" value="1"/>
<define name="MAX_BANK" value="20" unit="deg"/>
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_aspirin.h&quot;"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_HOVER_Z_HOLD"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
<define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
</section>
</airframe>
conf/airframes/examples/quadrotor_lisa_m_mkk.xml
+191
View File
@@ -0,0 +1,191 @@
<!-- this is a quadrotor frame equiped with Lisa/M and MKK motor controllers -->
<airframe name="fraser">
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_1.0">
<define name="ACTUATORS_START_DELAY" value="3"/>
<configure name="AHRS_ALIGNER_LED" value="3"/>
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
</target>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="actuators" type="mkk"/>
<subsystem name="imu" type="aspirin_v1.5"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
</firmware>
<commands>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
<define name="NB" value="4"/>
<!-- FRONT, BACK, RIGHT, LEFT -->
<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
</section>
<section name="SUPERVISION" prefix="SUPERVISION_">
<define name="MIN_MOTOR" value="2"/>
<define name="MAX_MOTOR" value="200"/>
<define name="TRIM_A" value="0"/>
<define name="TRIM_E" value="0"/>
<define name="TRIM_R" value="0"/>
<define name="NB_MOTOR" value="4"/>
<define name="SCALE" value="256"/>
<!-- front/back turning CW, left/right CCW -->
<define name="ROLL_COEF" value="{ 0, 0, -256, 256 }"/>
<define name="PITCH_COEF" value="{ 256, -256, 0, 0 }"/>
<define name="YAW_COEF" value="{ -256, -256, 256, 256 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
</section>
<section name="IMU" prefix="IMU_">
<define name="ACCEL_X_NEUTRAL" value="11"/>
<define name="ACCEL_Y_NEUTRAL" value="11"/>
<define name="ACCEL_Z_NEUTRAL" value="-25"/>
<define name="MAG_X_NEUTRAL" value="-152"/>
<define name="MAG_Y_NEUTRAL" value="-51"/>
<define name="MAG_Z_NEUTRAL" value="10"/>
<define name="MAG_X_SENS" value="4.04042714046" integer="16"/>
<define name="MAG_Y_SENS" value="3.95350991963" integer="16"/>
<define name="MAG_Z_SENS" value="3.83055079257" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="-45." unit="deg"/>
</section>
<section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="H_X" value="0.3770441"/>
<define name="H_Y" value="0.0193986"/>
<define name="H_Z" value="0.9259921"/>
</section>
<section name="INS" prefix="INS_">
<define name="BARO_SENS" value="22.3" integer="16"/>
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<!-- setpoints -->
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="DEADBAND_P" value="20"/>
<define name="DEADBAND_Q" value="20"/>
<define name="DEADBAND_R" value="200"/>
<define name="REF_TAU" value="4"/>
<!-- feedback -->
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
<define name="IGAIN_P" value="75"/>
<define name="IGAIN_Q" value="75"/>
<define name="IGAIN_R" value="50"/>
<!-- feedforward -->
<define name="DDGAIN_P" value="300"/>
<define name="DDGAIN_Q" value="300"/>
<define name="DDGAIN_R" value="300"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="45." unit="deg"/>
<define name="SP_MAX_THETA" value="45." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="DEADBAND_A" value="0"/>
<define name="DEADBAND_E" value="0"/>
<define name="DEADBAND_R" value="250"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="400." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="400." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="180." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="1000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="1000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="500"/>
<define name="PSI_DGAIN" value="300"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value="300"/>
<define name="THETA_DDGAIN" value="300"/>
<define name="PSI_DDGAIN" value="300"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="USE_REF" value="1"/>
<define name="MAX_BANK" value="20" unit="deg"/>
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_aspirin.h&quot;"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_HOVER_Z_HOLD"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
<define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
</section>
</airframe>
conf/airframes/twinjet_example.xml → conf/airframes/examples/twinjet.xml
View File
conf/airframes/twinstar_example.xml → conf/airframes/examples/twinstar.xml
View File
conf/airframes/example_twog_analogimu.xml → conf/airframes/examples/twog_analogimu.xml
View File
conf/airframes/fraser_lisa_m_rotorcraft.xml
+20 -33
View File
@@ -4,24 +4,17 @@
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_m_1.0"> <target name="ap" board="lisa_m_1.0">
<!--subsystem name="radio_control" type="spektrum"/>
<define name="RADIO_MODE" value="RADIO_AUX2"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/>
<define name="RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value="UART5"/>
<define name="OVERRIDE_UART5_IRQ_HANDLER"/-->
<subsystem name="radio_control" type="ppm"/>
<define name="ACTUATORS_START_DELAY" value="3"/> <define name="ACTUATORS_START_DELAY" value="3"/>
<define name="USE_INS_NAV_INIT"/> <define name="USE_INS_NAV_INIT"/>
<configure name="AHRS_ALIGNER_LED" value="3"/> <configure name="AHRS_ALIGNER_LED" value="3"/>
<define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING"/> <!--configure name="USE_NEW_I2C_DRIVER" value="1"/-->
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="radio_control" type="ppm"/>
</target> </target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
</target>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/> <subsystem name="telemetry" type="transparent"/>
<subsystem name="actuators" type="mkk"/> <subsystem name="actuators" type="mkk"/>
<subsystem name="imu" type="aspirin_v1.5"/> <subsystem name="imu" type="aspirin_v1.5"/>
@@ -59,9 +52,6 @@
<modules main_freq="512"> <modules main_freq="512">
<load name="sys_mon.xml"/> <load name="sys_mon.xml"/>
<load name="bat_checker.xml">
<define name="BAT_CHECKER_LED" value="4"/>
</load>
</modules> </modules>
<commands> <commands>
@@ -73,20 +63,20 @@
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_"> <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
<define name="NB" value="4"/> <define name="NB" value="4"/>
<!-- FRONT, BACK, LEFT, RIGHT --> <!-- FRONT, BACK, RIGHT, LEFT -->
<define name="ADDR" value="{ 0x54, 0x52, 0x58, 0x56 }"/> <define name="ADDR" value="{ 0x54, 0x52, 0x56, 0x58 }"/>
</section> </section>
<section name="SUPERVISION" prefix="SUPERVISION_"> <section name="SUPERVISION" prefix="SUPERVISION_">
<define name="MIN_MOTOR" value="2"/> <define name="MIN_MOTOR" value="2"/>
<define name="MAX_MOTOR" value="210"/> <define name="MAX_MOTOR" value="200"/>
<define name="TRIM_A" value="0"/> <define name="TRIM_A" value="0"/>
<define name="TRIM_E" value="0"/> <define name="TRIM_E" value="0"/>
<define name="TRIM_R" value="0"/> <define name="TRIM_R" value="0"/>
<define name="NB_MOTOR" value="4"/> <define name="NB_MOTOR" value="4"/>
<define name="SCALE" value="256"/> <define name="SCALE" value="256"/>
<!-- front/back turning CCW, left/right CW --> <!-- front/back turning CCW, left/right CW -->
<define name="ROLL_COEF" value="{ 0, 0, 256, -256 }"/> <define name="ROLL_COEF" value="{ 0, 0, -256, 256 }"/>
<define name="PITCH_COEF" value="{ 256, -256, 0, 0 }"/> <define name="PITCH_COEF" value="{ 256, -256, 0, 0 }"/>
<define name="YAW_COEF" value="{ 256, 256, -256, -256 }"/> <define name="YAW_COEF" value="{ 256, 256, -256, -256 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/> <define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
@@ -97,12 +87,12 @@
<define name="ACCEL_Y_NEUTRAL" value="11"/> <define name="ACCEL_Y_NEUTRAL" value="11"/>
<define name="ACCEL_Z_NEUTRAL" value="-25"/> <define name="ACCEL_Z_NEUTRAL" value="-25"/>
<define name="MAG_X_NEUTRAL" value="-152"/> <define name="MAG_X_NEUTRAL" value="-45"/>
<define name="MAG_Y_NEUTRAL" value="-51"/> <define name="MAG_Y_NEUTRAL" value="334"/>
<define name="MAG_Z_NEUTRAL" value="10"/> <define name="MAG_Z_NEUTRAL" value="7"/>
<define name="MAG_X_SENS" value="4.04042714046" integer="16"/> <define name="MAG_X_SENS" value="4.47647816128" integer="16"/>
<define name="MAG_Y_SENS" value="3.95350991963" integer="16"/> <define name="MAG_Y_SENS" value="4.71085671542" integer="16"/>
<define name="MAG_Z_SENS" value="3.83055079257" integer="16"/> <define name="MAG_Z_SENS" value="4.41585354498" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/> <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/> <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
@@ -125,8 +115,8 @@
<define name="SP_MAX_P" value="10000"/> <define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/> <define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/> <define name="SP_MAX_R" value="10000"/>
<define name="DEADBAND_P" value="0"/> <define name="DEADBAND_P" value="20"/>
<define name="DEADBAND_Q" value="0"/> <define name="DEADBAND_Q" value="20"/>
<define name="DEADBAND_R" value="200"/> <define name="DEADBAND_R" value="200"/>
<define name="REF_TAU" value="4"/> <define name="REF_TAU" value="4"/>
@@ -150,12 +140,9 @@
<!-- setpoints --> <!-- setpoints -->
<define name="SP_MAX_PHI" value="45." unit="deg"/> <define name="SP_MAX_PHI" value="45." unit="deg"/>
<define name="SP_MAX_THETA" value="45." unit="deg"/> <define name="SP_MAX_THETA" value="45." unit="deg"/>
<define name="SP_MAX_PSI" value="45." unit="deg"/>
<define name="SP_MAX_P" value="180." unit="deg/s"/>
<define name="SP_MAX_Q" value="180." unit="deg/s"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/> <define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="DEADBAND_A" value="250"/> <define name="DEADBAND_A" value="0"/>
<define name="DEADBAND_E" value="250"/> <define name="DEADBAND_E" value="0"/>
<define name="DEADBAND_R" value="250"/> <define name="DEADBAND_R" value="250"/>
<!-- reference --> <!-- reference -->
conf/airframes/mm/extra/logger_sd_adc.xml
+1 -1
View File
@@ -56,7 +56,7 @@
CONFIG = \"tiny_2_1_1_usb.h\" CONFIG = \"tiny_2_1_1_usb.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
FLASH_MODE=IAP FLASH_MODE=IAP
conf/airframes/mm/extra/press_t.xml
+2 -2
View File
@@ -218,7 +218,7 @@
<makefile> <makefile>
CONFIG = \"tiny_2_1.h\" CONFIG = \"tiny_2_1.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
FLASH_MODE=IAP FLASH_MODE=IAP
@@ -284,7 +284,7 @@ ap.CFLAGS += -DUSE_ADC_3 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_3 -DADC_CH
ap.srcs += adc_generic.c ap.srcs += adc_generic.c
# Config for SITL simulation # Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
conf/airframes/mm/extra/quiet.xml
+1 -1
View File
@@ -10,7 +10,7 @@
CONFIG = \"tiny_2_1_1_usb.h\" CONFIG = \"tiny_2_1_1_usb.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
FLASH_MODE=IAP FLASH_MODE=IAP
conf/airframes/mm/extra/rctx.xml
+1 -1
View File
@@ -22,7 +22,7 @@
CONFIG = \"tiny_2_1.h\" CONFIG = \"tiny_2_1.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
FLASH_MODE=IAP FLASH_MODE=IAP
conf/airframes/mm/fixed-wing/drops.xml
+2 -2
View File
@@ -234,7 +234,7 @@
<!--makefile> <!--makefile>
CONFIG = \"tiny_2_1.h\" CONFIG = \"tiny_2_1.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
FLASH_MODE=IAP FLASH_MODE=IAP
@@ -283,7 +283,7 @@ ap.srcs += subsystems/navigation/bomb.c
ap.srcs += subsystems/navigation/snav.c ap.srcs += subsystems/navigation/snav.c
# Config for SITL simulation # Config for SITL simulation
# include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile # include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
sim.ARCHDIR = $(ARCHI) sim.ARCHDIR = $(ARCHI)
sim.ARCH = sitl sim.ARCH = sitl
sim.TARGET = autopilot sim.TARGET = autopilot
conf/airframes/mm/fixed-wing/funjeteth1.xml
+2 -2
View File
@@ -195,7 +195,7 @@
<makefile> <makefile>
CONFIG = \"tiny_2_1.h\" CONFIG = \"tiny_2_1.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
FLASH_MODE=IAP FLASH_MODE=IAP
@@ -249,7 +249,7 @@ ap.CFLAGS += -DUSE_I2C0 -DUSE_BARO_SCP
# Config for SITL simulation # Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_cube.c sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_cube.c
conf/airframes/mm/fixed-wing/funjeteth2.xml
+2 -2
View File
@@ -196,7 +196,7 @@
<makefile> <makefile>
CONFIG = \"tiny_2_1.h\" CONFIG = \"tiny_2_1.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
FLASH_MODE=IAP FLASH_MODE=IAP
@@ -249,7 +249,7 @@ ap.CFLAGS += -DUSE_I2C0 -DUSE_BARO_SCP
# Config for SITL simulation # Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_cube.c sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_cube.c
conf/airframes/mm/fixed-wing/funjetfmi1.xml
+2 -2
View File
@@ -198,7 +198,7 @@
<makefile> <makefile>
CONFIG = \"tiny_2_1.h\" CONFIG = \"tiny_2_1.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
FLASH_MODE=IAP FLASH_MODE=IAP
@@ -262,7 +262,7 @@ ap.CFLAGS += -DMICROMAG_DRDY_VIC_SLOT=12 -DSSP_VIC_SLOT=11 -DUSE_MICROMAG_FW
ap.srcs += micromag_fw.c $(SRC_ARCH)/micromag_fw_hw.c ap.srcs += micromag_fw.c $(SRC_ARCH)/micromag_fw_hw.c
# Config for SITL simulation # Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
conf/airframes/mm/fixed-wing/funjetfmi2.xml
+2 -2
View File
@@ -197,7 +197,7 @@
<makefile> <makefile>
CONFIG = \"tiny_2_1.h\" CONFIG = \"tiny_2_1.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
FLASH_MODE=IAP FLASH_MODE=IAP
@@ -258,7 +258,7 @@ ap.CFLAGS += -DMICROMAG_DRDY_VIC_SLOT=12 -DSSP_VIC_SLOT=11 -DUSE_MICROMAG_FW
ap.srcs += micromag_fw.c $(SRC_ARCH)/micromag_fw_hw.c ap.srcs += micromag_fw.c $(SRC_ARCH)/micromag_fw_hw.c
# Config for SITL simulation # Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
conf/airframes/mm/fixed-wing/funjetfmi3.xml
+2 -2
View File
@@ -197,7 +197,7 @@
<makefile> <makefile>
CONFIG = \"tiny_2_1.h\" CONFIG = \"tiny_2_1.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
FLASH_MODE=IAP FLASH_MODE=IAP
@@ -258,7 +258,7 @@ ap.CFLAGS += -DMICROMAG_DRDY_VIC_SLOT=12 -DSSP_VIC_SLOT=11 -DUSE_MICROMAG_FW
ap.srcs += micromag_fw.c $(SRC_ARCH)/micromag_fw_hw.c ap.srcs += micromag_fw.c $(SRC_ARCH)/micromag_fw_hw.c
# Config for SITL simulation # Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
conf/airframes/mm/fixed-wing/funjetgfi1.xml
+2 -2
View File
@@ -175,7 +175,7 @@
<makefile> <makefile>
CONFIG = \"tiny_2_1.h\" CONFIG = \"tiny_2_1.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
FLASH_MODE=IAP FLASH_MODE=IAP
@@ -227,7 +227,7 @@ ap.srcs += joystick.c
ap.CFLAGS += -DUSE_JOYSTICK ap.CFLAGS += -DUSE_JOYSTICK
# Config for SITL simulation # Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
conf/airframes/mm/fixed-wing/funjetgfi3.xml
+2 -2
View File
@@ -186,7 +186,7 @@
</section> </section>
<makefile> <makefile>
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
FLASH_MODE=IAP FLASH_MODE=IAP
@@ -257,7 +257,7 @@ ap.srcs += $(SRC_ARCH)/gpio.c
# Config for SITL simulation # Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN
sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
conf/airframes/mm/fixed-wing/funjetgfi4.xml
+2 -2
View File
@@ -175,7 +175,7 @@
<makefile> <makefile>
CONFIG = \"tiny_2_1.h\" CONFIG = \"tiny_2_1.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
FLASH_MODE=IAP FLASH_MODE=IAP
@@ -227,7 +227,7 @@ ap.srcs += joystick.c
ap.CFLAGS += -DUSE_JOYSTICK ap.CFLAGS += -DUSE_JOYSTICK
# Config for SITL simulation # Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
conf/airframes/mm/fixed-wing/funjetgfi5.xml
+2 -2
View File
@@ -177,7 +177,7 @@
<makefile> <makefile>
CONFIG = \"tiny_2_1.h\" CONFIG = \"tiny_2_1.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
FLASH_MODE=IAP FLASH_MODE=IAP
@@ -229,7 +229,7 @@ ap.srcs += joystick.c
ap.CFLAGS += -DUSE_JOYSTICK ap.CFLAGS += -DUSE_JOYSTICK
# Config for SITL simulation # Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
conf/airframes/mm/fixed-wing/funjetgfi6.xml
+2 -2
View File
@@ -177,7 +177,7 @@
<makefile> <makefile>
CONFIG = \"tiny_2_1.h\" CONFIG = \"tiny_2_1.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
FLASH_MODE=IAP FLASH_MODE=IAP
@@ -229,7 +229,7 @@ ap.srcs += joystick.c
ap.CFLAGS += -DUSE_JOYSTICK ap.CFLAGS += -DUSE_JOYSTICK
# Config for SITL simulation # Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
conf/airframes/mm/fixed-wing/funjetgfi7.xml
+2 -2
View File
@@ -177,7 +177,7 @@
<makefile> <makefile>
CONFIG = \"tiny_2_1.h\" CONFIG = \"tiny_2_1.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
FLASH_MODE=IAP FLASH_MODE=IAP
@@ -229,7 +229,7 @@ ap.srcs += joystick.c
ap.CFLAGS += -DUSE_JOYSTICK ap.CFLAGS += -DUSE_JOYSTICK
# Config for SITL simulation # Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
conf/airframes/mm/fixed-wing/funjetgfi9.xml
+2 -2
View File
@@ -177,7 +177,7 @@
<makefile> <makefile>
CONFIG = \"tiny_2_1.h\" CONFIG = \"tiny_2_1.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
FLASH_MODE=IAP FLASH_MODE=IAP
@@ -229,7 +229,7 @@ ap.srcs += joystick.c
ap.CFLAGS += -DUSE_JOYSTICK ap.CFLAGS += -DUSE_JOYSTICK
# Config for SITL simulation # Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
conf/airframes/mm/fixed-wing/funjetmm2.xml
+2 -2
View File
@@ -203,7 +203,7 @@
<makefile> <makefile>
CONFIG = \"tiny_2_1.h\" CONFIG = \"tiny_2_1.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
FLASH_MODE=IAP FLASH_MODE=IAP
@@ -258,7 +258,7 @@ ap.CFLAGS += -DUSE_ADC_3 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_3 -DADC_CH
ap.srcs += adc_generic.c ap.srcs += adc_generic.c
# Config for SITL simulation # Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
conf/airframes/mm/fixed-wing/miniwing.xml
+2 -2
View File
@@ -171,7 +171,7 @@
<makefile> <makefile>
CONFIG = \"tiny_2_1.h\" CONFIG = \"tiny_2_1.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
FLASH_MODE=IAP FLASH_MODE=IAP
@@ -213,7 +213,7 @@ ap.srcs += subsystems/navigation/nav_survey_rectangle.c
ap.CFLAGS += -DUSE_ACCEL_MEMSIC -DUSE_ADC_3 -DUSE_ADC_4 ap.CFLAGS += -DUSE_ACCEL_MEMSIC -DUSE_ADC_3 -DUSE_ADC_4
# Config for SITL simulation # Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c

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