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Merge branch 'v3.9'

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* removed guidance_h_psi_sp
  - directly set final guidance_h_command_body.psi
    * in HOVER directly from RC psi setpoint
    * in NAV directly from nav_heading
  - This should also fix a bug with changing psi setpoint
    when switching between HOVER and NAV mode.
* some airframe and dtd fixes
* prevent segfault in nps sim wheny trying to send I2C_ERRORS
This commit is contained in:
Felix Ruess
2012-05-26 03:10:58 +02:00
parent 2049179ae2 6abd9087c5
commit d97f85a79c
66 changed files with 204 additions and 131 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/Makefile.sim
+1 -12
View File
@@ -56,6 +56,7 @@ CFLAGS += $(INCLUDES)
CFLAGS += $($(TARGET).CFLAGS) CFLAGS += $($(TARGET).CFLAGS)
CFLAGS += $(LOCAL_CFLAGS) CFLAGS += $(LOCAL_CFLAGS)
CFLAGS += -O2 CFLAGS += -O2
CFLAGS += -g
ifneq ($(SIM_TYPE),JSBSIM) ifneq ($(SIM_TYPE),JSBSIM)
CFLAGS += -std=gnu99 CFLAGS += -std=gnu99
@@ -63,9 +64,6 @@ endif
LDFLAGS = -lm LDFLAGS = -lm
ifeq ($(SIM_TYPE),BOOZ)
LDFLAGS += $($(TARGET).LDFLAGS)
endif
ifeq ($(SIM_TYPE),JSBSIM) ifeq ($(SIM_TYPE),JSBSIM)
LDFLAGS += $($(TARGET).LDFLAGS) LDFLAGS += $($(TARGET).LDFLAGS)
endif endif
@@ -92,11 +90,6 @@ check_jsbsim:
# fi # fi
ifeq ($(SIM_TYPE),BOOZ)
$(OBJDIR)/simsitl : $($(TARGET).objs)
@echo LD $@
$(Q)$(CC) -o $@ $($(TARGET).objs) $(LDFLAGS)
else
ifeq ($(SIM_TYPE),JSBSIM) ifeq ($(SIM_TYPE),JSBSIM)
$(OBJDIR)/simsitl : $($(TARGET).objs) $(OBJDIR)/simsitl : $($(TARGET).objs)
@echo LD $@ @echo LD $@
@@ -106,7 +99,6 @@ $(OBJDIR)/simsitl : $($(TARGET).objs) $(SITLCMA) $(SIMSITLML)
@echo LD $@ @echo LD $@
$(Q)$(OCAMLC) -g -custom $(CAMLINCLUDES) -o $@ unix.cma str.cma xml-light.cma glibivy-ocaml.cma lib-pprz.cma lablgtk.cma $($(TARGET).objs) $(MYGTKINITCMO) $(SITLCMA) $(SIMSITLML) $(Q)$(OCAMLC) -g -custom $(CAMLINCLUDES) -o $@ unix.cma str.cma xml-light.cma glibivy-ocaml.cma lib-pprz.cma lablgtk.cma $($(TARGET).objs) $(MYGTKINITCMO) $(SITLCMA) $(SIMSITLML)
endif endif
endif
# The id of the A/C is hardcoded in the code (to be improved with dynlink ?) # The id of the A/C is hardcoded in the code (to be improved with dynlink ?)
@@ -140,9 +132,6 @@ $(OBJDIR)/%.o: %.cpp $(OBJDIR)/../Makefile.ac
$(Q)test -d $(dir $@) || mkdir -p $(dir $@) $(Q)test -d $(dir $@) || mkdir -p $(dir $@)
$(Q)$(CC) $(CFLAGS) -c -o $@ $< $(Q)$(CC) $(CFLAGS) -c -o $@ $<
avr_clean:
rm -rf $(OBJDIR)
# #
# Dependencies # Dependencies
conf/airframes/CDW/debug_i2c.xml
+1 -1
View File
@@ -2,7 +2,7 @@
<airframe name="booz2_a7"> <airframe name="booz2_a7">
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/> <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" 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="LEFT" no="2" min="0" neutral="0" max="255"/>
conf/airframes/ENAC/quadrotor/blender.xml
+1 -1
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@@ -35,7 +35,7 @@
<subsystem name="ins" type="hff"/> <subsystem name="ins" type="hff"/>
</firmware> </firmware>
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/> <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="2" min="0" neutral="0" max="255"/> <servo name="BACK" no="2" min="0" neutral="0" max="255"/>
<servo name="RIGHT" no="1" min="0" neutral="0" max="255"/> <servo name="RIGHT" no="1" min="0" neutral="0" max="255"/>
conf/airframes/ENAC/quadrotor/booz2_g1.xml
+1 -1
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@@ -46,7 +46,7 @@
<target name="test_rc_ppm" board="booz_1.0"/> <target name="test_rc_ppm" board="booz_1.0"/>
</firmware> </firmware>
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="PITCH" no="0" min="0" neutral="0" max="255"/> <servo name="PITCH" no="0" min="0" neutral="0" max="255"/>
<servo name="ROLL" no="1" min="0" neutral="0" max="255"/> <servo name="ROLL" no="1" min="0" neutral="0" max="255"/>
<servo name="YAW" no="2" min="0" neutral="0" max="255"/> <servo name="YAW" no="2" min="0" neutral="0" max="255"/>
conf/airframes/ENAC/quadrotor/navgo.xml
+1 -1
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@@ -35,7 +35,7 @@
<subsystem name="ins" type="hff"/> <subsystem name="ins" type="hff"/>
</firmware> </firmware>
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/> <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="2" min="0" neutral="0" max="255"/> <servo name="BACK" no="2" min="0" neutral="0" max="255"/>
<servo name="RIGHT" no="1" min="0" neutral="0" max="255"/> <servo name="RIGHT" no="1" min="0" neutral="0" max="255"/>
conf/airframes/NoVa_L.xml
+1 -1
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@@ -2,7 +2,7 @@
<airframe name="booz2_a7"> <airframe name="booz2_a7">
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/> <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" 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="LEFT" no="2" min="0" neutral="0" max="255"/>
conf/airframes/Poine/booz2_a1.xml
+1 -1
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@@ -1,6 +1,6 @@
<airframe name="BOOZ2_a1"> <airframe name="BOOZ2_a1">
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/> <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" 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="RIGHT" no="2" min="0" neutral="0" max="255"/>
conf/airframes/Poine/booz2_a7.xml
+1 -1
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@@ -2,7 +2,7 @@
<airframe name="booz2_a7"> <airframe name="booz2_a7">
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/> <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" 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="LEFT" no="2" min="0" neutral="0" max="255"/>
conf/airframes/Poine/booz2_a8.xml
+1 -1
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@@ -2,7 +2,7 @@
<airframe name="booz2_a8"> <airframe name="booz2_a8">
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/> <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" 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="LEFT" no="2" min="0" neutral="0" max="255"/>
conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_rc.xml
+1 -1
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@@ -70,7 +70,7 @@
</firmware> </firmware>
--> -->
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/> <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" 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="RIGHT" no="2" min="0" neutral="0" max="255"/>
conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
+1 -1
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@@ -88,7 +88,7 @@
</firmware> </firmware>
--> -->
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/> <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" 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="RIGHT" no="2" min="0" neutral="0" max="255"/>
conf/airframes/booz2_flixr.xml
+2
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@@ -1,3 +1,5 @@
<!DOCTYPE airframe SYSTEM "airframe.dtd">
<airframe name="BOOZ2_F1"> <airframe name="BOOZ2_F1">
<firmware name="rotorcraft"> <firmware name="rotorcraft">
conf/airframes/booz2_ppzuav.xml
+1 -1
View File
@@ -8,7 +8,7 @@
Asctec Speed Controllers Asctec Speed Controllers
--> -->
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="FRONT" no="3" min="0" neutral="0" max="255"/> <servo name="FRONT" no="3" min="0" neutral="0" max="255"/>
<servo name="BACK" no="0" min="0" neutral="0" max="255"/> <servo name="BACK" no="0" min="0" neutral="0" max="255"/>
<servo name="RIGHT" no="1" min="0" neutral="0" max="255"/> <servo name="RIGHT" no="1" min="0" neutral="0" max="255"/>
conf/airframes/esden/jt_lisam.xml
+1 -1
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@@ -2,7 +2,7 @@
<airframe name="jt_lisam"> <airframe name="jt_lisam">
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="A1" no="0" min="1000" neutral="1000" max="2000"/> <servo name="A1" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="A2" no="1" min="1000" neutral="1000" max="2000"/> <servo name="A2" no="1" min="1000" neutral="1000" max="2000"/>
<servo name="B1" no="2" min="1000" neutral="1000" max="2000"/> <servo name="B1" no="2" min="1000" neutral="1000" max="2000"/>
conf/airframes/esden/lisa_asctec.xml
+1 -1
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@@ -2,7 +2,7 @@
<airframe name="lisa_asctec"> <airframe name="lisa_asctec">
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/> <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" 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="LEFT" no="2" min="0" neutral="0" max="255"/>
conf/airframes/esden/lisa_asctec_aspirin.xml
+1 -1
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@@ -2,7 +2,7 @@
<airframe name="lisa_asctec"> <airframe name="lisa_asctec">
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/> <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" 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="LEFT" no="2" min="0" neutral="0" max="255"/>
conf/airframes/esden/lisa_m_2_asp_2_pwm.xml
+1 -1
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@@ -11,7 +11,7 @@
<airframe name="lisa_asctec"> <airframe name="lisa_asctec">
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="FRONT" no="0" min="1000" neutral="1000" max="2000"/> <servo name="FRONT" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="BACK" no="1" min="1000" neutral="1000" max="2000"/> <servo name="BACK" no="1" min="1000" neutral="1000" max="2000"/>
<servo name="LEFT" no="2" min="1000" neutral="1000" max="2000"/> <servo name="LEFT" no="2" min="1000" neutral="1000" max="2000"/>
conf/airframes/esden/lisa_m_pwm.xml
+1 -1
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@@ -2,7 +2,7 @@
<airframe name="lisa_asctec"> <airframe name="lisa_asctec">
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="FRONT" no="0" min="1000" neutral="1000" max="2000"/> <servo name="FRONT" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="BACK" no="1" min="1000" neutral="1000" max="2000"/> <servo name="BACK" no="1" min="1000" neutral="1000" max="2000"/>
<servo name="LEFT" no="2" min="1000" neutral="1000" max="2000"/> <servo name="LEFT" no="2" min="1000" neutral="1000" max="2000"/>
conf/airframes/esden/lisa_pwm_aspirin.xml
+1 -1
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@@ -2,7 +2,7 @@
<airframe name="lisa_pwm_aspirin"> <airframe name="lisa_pwm_aspirin">
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="FRONT" no="0" min="1000" neutral="1000" max="2000"/> <servo name="FRONT" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="BACK" no="1" min="1000" neutral="1000" max="2000"/> <servo name="BACK" no="1" min="1000" neutral="1000" max="2000"/>
<servo name="LEFT" no="2" min="1000" neutral="1000" max="2000"/> <servo name="LEFT" no="2" min="1000" neutral="1000" max="2000"/>
conf/airframes/esden/synerani_4B.xml
+1 -1
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@@ -2,7 +2,7 @@
<airframe name="synerani_4b"> <airframe name="synerani_4b">
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="A1" no="0" min="1000" neutral="1000" max="2000"/> <servo name="A1" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="A2" no="1" min="1000" neutral="1000" max="2000"/> <servo name="A2" no="1" min="1000" neutral="1000" max="2000"/>
<servo name="B1" no="2" min="1000" neutral="1000" max="2000"/> <servo name="B1" no="2" min="1000" neutral="1000" max="2000"/>
conf/airframes/examples/booz2.xml
+1 -1
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@@ -1,6 +1,6 @@
<airframe name="BOOZ2_a1"> <airframe name="BOOZ2_a1">
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/> <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" 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="RIGHT" no="2" min="0" neutral="0" max="255"/>
conf/airframes/examples/h_hex.xml
+1 -1
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@@ -1,7 +1,7 @@
<!-- 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"> <servos>
<servo name="BACK_RIGHT" no="0" min="0" neutral="0" max="255"/> <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="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_RIGHT" no="2" min="0" neutral="0" max="255"/>
conf/airframes/examples/lisa_asctec.xml
+1 -1
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@@ -2,7 +2,7 @@
<airframe name="lisa_asctec"> <airframe name="lisa_asctec">
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/> <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" 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="LEFT" no="2" min="0" neutral="0" max="255"/>
conf/airframes/examples/quadrotor_lisa_m_2_pwm.xml
+4 -3
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@@ -1,4 +1,6 @@
<!-- this is a quadrotor frame equiped with Lisa/M and MKK motor controllers --> <!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!-- this is a quadrotor frame equiped with Lisa/M 2.0 and PWM motor controllers -->
<airframe name="fraser"> <airframe name="fraser">
@@ -21,7 +23,7 @@
<subsystem name="ahrs" type="int_cmpl_quat"/> <subsystem name="ahrs" type="int_cmpl_quat"/>
</firmware> </firmware>
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="FRONT" no="0" min="1000" neutral="1000" max="2000"/> <servo name="FRONT" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="BACK" no="1" 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="RIGHT" no="2" min="1000" neutral="1000" max="2000"/>
@@ -178,7 +180,6 @@
</section> </section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="USE_REF" value="1"/>
<define name="MAX_BANK" value="20" unit="deg"/> <define name="MAX_BANK" value="20" unit="deg"/>
<define name="PGAIN" value="100"/> <define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/> <define name="DGAIN" value="100"/>
conf/airframes/examples/quadrotor_lisa_m_mkk.xml
+3 -2
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@@ -1,4 +1,6 @@
<!-- this is a quadrotor frame equiped with Lisa/M and MKK motor controllers --> <!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!-- this is a quadrotor frame equiped with Lisa/M 1.0 and MKK motor controllers -->
<airframe name="fraser"> <airframe name="fraser">
@@ -161,7 +163,6 @@
</section> </section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="USE_REF" value="1"/>
<define name="MAX_BANK" value="20" unit="deg"/> <define name="MAX_BANK" value="20" unit="deg"/>
<define name="PGAIN" value="100"/> <define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/> <define name="DGAIN" value="100"/>
conf/airframes/examples/setup_lisam2.xml
+18 -1
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@@ -7,7 +7,24 @@
<target name="setup_actuators" board="lisa_m_2.0"/> <target name="setup_actuators" board="lisa_m_2.0"/>
</firmware> </firmware>
<servos min="0" neutral="0" max="0xff"> <firmware name="lisa_test_progs">
<target name="test_led" board="lisa_m_2.0"/>
<target name="test_sys_time" board="lisa_m_2.0"/>
<target name="test_uart" board="lisa_m_2.0"/>
<target name="test_servos" board="lisa_m_2.0"/>
<target name="test_telemetry" board="lisa_m_2.0"/>
<target name="test_baro" board="lisa_m_2.0"/>
<target name="test_rc_spektrum" board="lisa_m_2.0"/>
<target name="test_rc_ppm" board="lisa_m_2.0"/>
<target name="test_adc" board="lisa_m_2.0"/>
<target name="test_hmc5843" board="lisa_m_2.0"/>
<target name="test_itg3200" board="lisa_m_2.0"/>
<target name="test_adxl345" board="lisa_m_2.0"/>
<target name="test_esc_mkk_simple" board="lisa_m_2.0"/>
<target name="test_esc_asctecv1_simple" board="lisa_m_2.0"/>
</firmware>
<servos>
<servo name="1" no="0" min="1000" neutral="1000" max="2000"/> <servo name="1" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="2" no="1" min="1000" neutral="1000" max="2000"/> <servo name="2" no="1" min="1000" neutral="1000" max="2000"/>
<servo name="3" no="2" min="1000" neutral="1000" max="2000"/> <servo name="3" no="2" min="1000" neutral="1000" max="2000"/>
conf/airframes/flixr_discovery.xml
+1 -3
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@@ -1,10 +1,8 @@
<!DOCTYPE airframe SYSTEM "airframe.dtd"> <!DOCTYPE airframe SYSTEM "airframe.dtd">
<!-- ST Model Discovery (http://www.sheng-teng.com/) <!-- ST Model Discovery (http://www.sheng-teng.com/)
TWOG1 (http://paparazzi.enac.fr/wiki/index.php/) TWOG1 (http://paparazzi.enac.fr/wiki/TWOG/v1.0)
* uBlox LEA5H and Sarantel helix GPS antenna * uBlox LEA5H and Sarantel helix GPS antenna
READ this first
http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
--> -->
<airframe name="Discovery"> <airframe name="Discovery">
conf/airframes/fraser_lisa_m_rotorcraft.xml
+3 -1
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@@ -1,3 +1,5 @@
<!DOCTYPE airframe SYSTEM "airframe.dtd">
<!-- this is a quadrotor frame equiped with Lisa/M and MKK motor controllers --> <!-- this is a quadrotor frame equiped with Lisa/M and MKK motor controllers -->
<airframe name="fraser"> <airframe name="fraser">
@@ -196,7 +198,7 @@
</section> </section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="USE_REF" value="1"/> <!--define name="USE_REF" value="1"/-->
<define name="MAX_BANK" value="20" unit="deg"/> <define name="MAX_BANK" value="20" unit="deg"/>
<define name="PGAIN" value="100"/> <define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/> <define name="DGAIN" value="100"/>
conf/airframes/mm/rotor/qmk1.xml
+1 -1
View File
@@ -2,7 +2,7 @@
<airframe name="qmk1"> <airframe name="qmk1">
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/> <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" 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="RIGHT" no="2" min="0" neutral="0" max="255"/>
conf/airframes/mm/rotor/quadrotor_lisa_m_1_pwm.xml
+1 -1
View File
@@ -22,7 +22,7 @@
<subsystem name="ahrs" type="int_cmpl_quat"/> <subsystem name="ahrs" type="int_cmpl_quat"/>
</firmware> </firmware>
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="FRONT" no="0" min="1000" neutral="1000" max="2000"/> <servo name="FRONT" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="BACK" no="1" 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="RIGHT" no="2" min="1000" neutral="1000" max="2000"/>
conf/airframes/mm/rotor/quadrotor_lisa_m_2_pwm.xml
+1 -1
View File
@@ -21,7 +21,7 @@
<subsystem name="ahrs" type="int_cmpl_quat"/> <subsystem name="ahrs" type="int_cmpl_quat"/>
</firmware> </firmware>
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="NE" no="0" min="1000" neutral="1000" max="2000"/> <servo name="NE" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="SE" no="1" min="1000" neutral="1000" max="2000"/> <servo name="SE" no="1" min="1000" neutral="1000" max="2000"/>
<servo name="SW" no="2" min="1000" neutral="1000" max="2000"/> <servo name="SW" no="2" min="1000" neutral="1000" max="2000"/>
conf/airframes/obsolete/ENAC/g1_vision.xml
+1 -1
View File
@@ -9,7 +9,7 @@
<load name="booz_gumstix_com.xml"/> <load name="booz_gumstix_com.xml"/>
</modules> </modules>
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="PITCH" no="0" min="0" neutral="0" max="255"/> <servo name="PITCH" no="0" min="0" neutral="0" max="255"/>
<servo name="ROLL" no="1" min="0" neutral="0" max="255"/> <servo name="ROLL" no="1" min="0" neutral="0" max="255"/>
<servo name="YAW" no="2" min="0" neutral="0" max="255"/> <servo name="YAW" no="2" min="0" neutral="0" max="255"/>
conf/airframes/obsolete/ENAC/mkk1-vision.xml
+1 -1
View File
@@ -7,7 +7,7 @@
<load name="sonar_maxbotix_booz.xml"/> <load name="sonar_maxbotix_booz.xml"/>
</modules> </modules>
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/> <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" 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="RIGHT" no="2" min="0" neutral="0" max="255"/>
conf/airframes/obsolete/ENAC/mkk1.xml
+1 -1
View File
@@ -37,7 +37,7 @@
<target name="test_actuators_mkk" board="booz_1.0"/> <target name="test_actuators_mkk" board="booz_1.0"/>
</firmware--> </firmware-->
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/> <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" 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="RIGHT" no="2" min="0" neutral="0" max="255"/>
conf/airframes/obsolete/ENAC/nova1.xml
+1 -1
View File
@@ -29,7 +29,7 @@
<target name="test_actuators_mkk" board="lisa_l_1.0"/> <target name="test_actuators_mkk" board="lisa_l_1.0"/>
</firmware> </firmware>
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/> <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" 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="RIGHT" no="2" min="0" neutral="0" max="255"/>
conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
+1 -1
View File
@@ -7,7 +7,7 @@
Datamodems configured for 57600 baud Datamodems configured for 57600 baud
Asctec speed controllers--> Asctec speed controllers-->
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="PITCH" no="0" min="0" neutral="0" max="255"/> <servo name="PITCH" no="0" min="0" neutral="0" max="255"/>
<servo name="ROLL" no="1" min="0" neutral="0" max="255"/> <servo name="ROLL" no="1" min="0" neutral="0" max="255"/>
<servo name="YAW" no="2" min="0" neutral="0" max="255"/> <servo name="YAW" no="2" min="0" neutral="0" max="255"/>
conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
+1 -1
View File
@@ -7,7 +7,7 @@
Datamodems configured for 57600 baud Datamodems configured for 57600 baud
MKK style speed controllers--> MKK style speed controllers-->
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/> <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" 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="RIGHT" no="2" min="0" neutral="0" max="255"/>
conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml
+1 -1
View File
@@ -1,7 +1,7 @@
<!-- UofA Group 1000 Fixed Pitch Airframe using Booz board --> <!-- UofA Group 1000 Fixed Pitch Airframe using Booz board -->
<airframe name="A1000 BOOZ"> <airframe name="A1000 BOOZ">
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/> <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" 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="RIGHT" no="2" min="0" neutral="0" max="255"/>
conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml
+1 -1
View File
@@ -8,7 +8,7 @@
ZEF100 Speed Controllers ZEF100 Speed Controllers
--> -->
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/> <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" 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="RIGHT" no="2" min="0" neutral="0" max="255"/>
conf/airframes/obsolete/UofAdelaide/booz2_NoVa_001_1000.xml
+1 -1
View File
@@ -8,7 +8,7 @@
ZEF100 Speed Controllers ZEF100 Speed Controllers
--> -->
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/> <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" 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="RIGHT" no="2" min="0" neutral="0" max="255"/>
conf/airframes/obsolete/UofAdelaide/booz2_a1000.xml
+1 -1
View File
@@ -1,6 +1,6 @@
<airframe name="UofA Group 1000 Fixed Pitch Airframe"> <airframe name="UofA Group 1000 Fixed Pitch Airframe">
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/> <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" 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="RIGHT" no="2" min="0" neutral="0" max="255"/>
conf/airframes/obsolete/UofAdelaide/lisa_a1000.xml
+1 -1
View File
@@ -2,7 +2,7 @@
<airframe name="lisa_asctec"> <airframe name="lisa_asctec">
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/> <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" 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="LEFT" no="2" min="0" neutral="0" max="255"/>
conf/airframes/obsolete/booz2_Aron.xml
+1 -1
View File
@@ -1,6 +1,6 @@
<airframe name="BOOZ2_A2"> <airframe name="BOOZ2_A2">
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="FRONT" no="0" min="0" neutral="0" max="255" /> <servo name="FRONT" no="0" min="0" neutral="0" max="255" />
<servo name="BACK" no="1" 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="RIGHT" no="2" min="0" neutral="0" max="255" />
conf/airframes/obsolete/booz2_NoVa.xml
+1 -1
View File
@@ -8,7 +8,7 @@
Modified 6A speed controllers Modified 6A speed controllers
--> -->
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/> <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" 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="RIGHT" no="2" min="0" neutral="0" max="255"/>
conf/airframes/obsolete/booz2_NoVa_001.xml
+1 -1
View File
@@ -8,7 +8,7 @@
ZEF100 Speed Controllers ZEF100 Speed Controllers
--> -->
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/> <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" 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="RIGHT" no="2" min="0" neutral="0" max="255"/>
conf/airframes/obsolete/booz2_NoVa_002.xml
+1 -1
View File
@@ -8,7 +8,7 @@
ZEF100 Speed Controllers ZEF100 Speed Controllers
--> -->
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/> <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" 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="RIGHT" no="2" min="0" neutral="0" max="255"/>
conf/airframes/obsolete/booz2_a1p.xml
+1 -1
View File
@@ -1,6 +1,6 @@
<airframe name="BOOZ2_a1"> <airframe name="BOOZ2_a1">
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/> <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" 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="RIGHT" no="2" min="0" neutral="0" max="255"/>
conf/airframes/obsolete/booz2_a2.xml
+1 -1
View File
@@ -1,6 +1,6 @@
<airframe name="BOOZ2_A2"> <airframe name="BOOZ2_A2">
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="PITCH" no="0" min="0" neutral="0" max="255"/> <servo name="PITCH" no="0" min="0" neutral="0" max="255"/>
<servo name="ROLL" no="1" min="0" neutral="0" max="255"/> <servo name="ROLL" no="1" min="0" neutral="0" max="255"/>
<servo name="YAW" no="2" min="0" neutral="0" max="255"/> <servo name="YAW" no="2" min="0" neutral="0" max="255"/>
conf/airframes/obsolete/booz2_a3.xml
+1 -1
View File
@@ -1,6 +1,6 @@
<airframe name="BOOZ2_A3"> <airframe name="BOOZ2_A3">
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="PITCH" no="0" min="0" neutral="0" max="255"/> <servo name="PITCH" no="0" min="0" neutral="0" max="255"/>
<servo name="ROLL" no="1" min="0" neutral="0" max="255"/> <servo name="ROLL" no="1" min="0" neutral="0" max="255"/>
<servo name="YAW" no="2" min="0" neutral="0" max="255"/> <servo name="YAW" no="2" min="0" neutral="0" max="255"/>
conf/airframes/obsolete/booz2_a4.xml
+1 -1
View File
@@ -1,6 +1,6 @@
<airframe name="BOOZ2_A4"> <airframe name="BOOZ2_A4">
<servos min="0" neutral="0" max="0xff"> <servos>
<servo name="PITCH" no="0" min="0" neutral="0" max="255"/> <servo name="PITCH" no="0" min="0" neutral="0" max="255"/>
<servo name="ROLL" no="1" min="0" neutral="0" max="255"/> <servo name="ROLL" no="1" min="0" neutral="0" max="255"/>
<servo name="YAW" no="2" min="0" neutral="0" max="255"/> <servo name="YAW" no="2" min="0" neutral="0" max="255"/>

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