diff --git a/conf/airframes/AGGIEAIR/aggieair_atomic_lia.xml b/conf/airframes/AGGIEAIR/aggieair_atomic_lia.xml index 713526490a..cf6841a220 100644 --- a/conf/airframes/AGGIEAIR/aggieair_atomic_lia.xml +++ b/conf/airframes/AGGIEAIR/aggieair_atomic_lia.xml @@ -288,7 +288,7 @@ AggieAir Atomic Tangerine
- + diff --git a/conf/airframes/AGGIEAIR/aggieair_blujay.xml b/conf/airframes/AGGIEAIR/aggieair_blujay.xml index 62187d05a1..d96e7d9b0b 100644 --- a/conf/airframes/AGGIEAIR/aggieair_blujay.xml +++ b/conf/airframes/AGGIEAIR/aggieair_blujay.xml @@ -257,7 +257,7 @@ AggieAir Blujayujay
- + diff --git a/conf/airframes/AGGIEAIR/aggieair_blujay_goose.xml b/conf/airframes/AGGIEAIR/aggieair_blujay_goose.xml index dc635c1ece..9f43392647 100644 --- a/conf/airframes/AGGIEAIR/aggieair_blujay_goose.xml +++ b/conf/airframes/AGGIEAIR/aggieair_blujay_goose.xml @@ -262,7 +262,7 @@ AggieAir Blujayujay
- + diff --git a/conf/airframes/AGGIEAIR/aggieair_el_captitan_lia.xml b/conf/airframes/AGGIEAIR/aggieair_el_captitan_lia.xml index c94cecd814..a85b1b6206 100644 --- a/conf/airframes/AGGIEAIR/aggieair_el_captitan_lia.xml +++ b/conf/airframes/AGGIEAIR/aggieair_el_captitan_lia.xml @@ -287,7 +287,7 @@ AggieAir El Capitan
- + diff --git a/conf/airframes/AGGIEAIR/aggieair_minion_rp3_lia.xml b/conf/airframes/AGGIEAIR/aggieair_minion_rp3_lia.xml index a93fdc4ec3..fa7cea74d2 100644 --- a/conf/airframes/AGGIEAIR/aggieair_minion_rp3_lia.xml +++ b/conf/airframes/AGGIEAIR/aggieair_minion_rp3_lia.xml @@ -279,7 +279,7 @@ AggieAir RP3 Minion
- + diff --git a/conf/airframes/AGGIEAIR/aggieair_minionsim_lia.xml b/conf/airframes/AGGIEAIR/aggieair_minionsim_lia.xml index 4529000eda..a7ee4ea564 100644 --- a/conf/airframes/AGGIEAIR/aggieair_minionsim_lia.xml +++ b/conf/airframes/AGGIEAIR/aggieair_minionsim_lia.xml @@ -291,7 +291,7 @@ AggieAir Minion Sim
- + diff --git a/conf/airframes/AGGIEAIR/aggieair_minty_lia.xml b/conf/airframes/AGGIEAIR/aggieair_minty_lia.xml index 487bda4112..4cccba89b4 100644 --- a/conf/airframes/AGGIEAIR/aggieair_minty_lia.xml +++ b/conf/airframes/AGGIEAIR/aggieair_minty_lia.xml @@ -287,7 +287,7 @@ AggieAir Minty Fresh
- + diff --git a/conf/airframes/ENAC/fixed-wing/jp.xml b/conf/airframes/ENAC/fixed-wing/jp.xml index b31dc52a10..ceef3ed934 100644 --- a/conf/airframes/ENAC/fixed-wing/jp.xml +++ b/conf/airframes/ENAC/fixed-wing/jp.xml @@ -280,7 +280,7 @@
- +
diff --git a/conf/airframes/ENAC/fixed-wing/matek_f765_wing.xml b/conf/airframes/ENAC/fixed-wing/matek_f765_wing.xml index 418eff1cc5..024d45d932 100644 --- a/conf/airframes/ENAC/fixed-wing/matek_f765_wing.xml +++ b/conf/airframes/ENAC/fixed-wing/matek_f765_wing.xml @@ -197,7 +197,7 @@
- +
diff --git a/conf/airframes/ENAC/fixed-wing/zagi_mekf_wind.xml b/conf/airframes/ENAC/fixed-wing/zagi_mekf_wind.xml index 70aff4dcee..ae3d6c9cbe 100644 --- a/conf/airframes/ENAC/fixed-wing/zagi_mekf_wind.xml +++ b/conf/airframes/ENAC/fixed-wing/zagi_mekf_wind.xml @@ -242,7 +242,7 @@
- +
diff --git a/conf/airframes/ENAC/nucleo144_test.xml b/conf/airframes/ENAC/nucleo144_test.xml index c50fe4bce0..158bd594be 100644 --- a/conf/airframes/ENAC/nucleo144_test.xml +++ b/conf/airframes/ENAC/nucleo144_test.xml @@ -205,7 +205,7 @@
- +
diff --git a/conf/airframes/ENAC/quadrotor/ard2_base_control.xml b/conf/airframes/ENAC/quadrotor/ard2_base_control.xml index e06561d103..00c00d3f6d 100644 --- a/conf/airframes/ENAC/quadrotor/ard2_base_control.xml +++ b/conf/airframes/ENAC/quadrotor/ard2_base_control.xml @@ -120,7 +120,7 @@
- +
diff --git a/conf/airframes/ENAC/quadrotor/drop1.xml b/conf/airframes/ENAC/quadrotor/drop1.xml index 2f08b55306..bc414ec5b0 100644 --- a/conf/airframes/ENAC/quadrotor/drop1.xml +++ b/conf/airframes/ENAC/quadrotor/drop1.xml @@ -281,7 +281,7 @@
- +
diff --git a/conf/airframes/OPENUAS/openuas_df_mini_spirit.xml b/conf/airframes/OPENUAS/openuas_df_mini_spirit.xml index 3fcc7440a3..27e89212d4 100644 --- a/conf/airframes/OPENUAS/openuas_df_mini_spirit.xml +++ b/conf/airframes/OPENUAS/openuas_df_mini_spirit.xml @@ -947,7 +947,7 @@ The most crucial part for the magnetometer calibration: - + diff --git a/conf/airframes/OPENUAS/openuas_eflite_t28.xml b/conf/airframes/OPENUAS/openuas_eflite_t28.xml index 17871aaf50..1ebf7369cb 100644 --- a/conf/airframes/OPENUAS/openuas_eflite_t28.xml +++ b/conf/airframes/OPENUAS/openuas_eflite_t28.xml @@ -1107,7 +1107,7 @@ The most crucial part for the magnetometer calibration: - + diff --git a/conf/airframes/OPENUAS/openuas_multiplex_minimag.xml b/conf/airframes/OPENUAS/openuas_multiplex_minimag.xml index 8dc4d7dd3b..b2f03ccb65 100644 --- a/conf/airframes/OPENUAS/openuas_multiplex_minimag.xml +++ b/conf/airframes/OPENUAS/openuas_multiplex_minimag.xml @@ -1113,7 +1113,7 @@ The most crucial part for the magnetometer calibration: - + diff --git a/conf/airframes/OPENUAS/openuas_multiplex_twinstar_nd.xml b/conf/airframes/OPENUAS/openuas_multiplex_twinstar_nd.xml index abe6ff63aa..4035c95089 100644 --- a/conf/airframes/OPENUAS/openuas_multiplex_twinstar_nd.xml +++ b/conf/airframes/OPENUAS/openuas_multiplex_twinstar_nd.xml @@ -890,7 +890,7 @@ The most crucial part for the magnetometer calibration: - + diff --git a/conf/airframes/OPENUAS/openuas_own_flexo.xml b/conf/airframes/OPENUAS/openuas_own_flexo.xml index 436ff43fe2..758377eb46 100644 --- a/conf/airframes/OPENUAS/openuas_own_flexo.xml +++ b/conf/airframes/OPENUAS/openuas_own_flexo.xml @@ -1035,7 +1035,7 @@ The most crucial part for the magnetometer calibration: - + diff --git a/conf/airframes/OPENUAS/openuas_own_sumo_ii.xml b/conf/airframes/OPENUAS/openuas_own_sumo_ii.xml index 3b83f010d8..fd01018d4d 100644 --- a/conf/airframes/OPENUAS/openuas_own_sumo_ii.xml +++ b/conf/airframes/OPENUAS/openuas_own_sumo_ii.xml @@ -1037,7 +1037,7 @@ The most crucial part for the magnetometer calibration: - + diff --git a/conf/airframes/OPENUAS/openuas_parrot_disco.xml b/conf/airframes/OPENUAS/openuas_parrot_disco.xml index 6cc17ceef4..ce1c2707a3 100644 --- a/conf/airframes/OPENUAS/openuas_parrot_disco.xml +++ b/conf/airframes/OPENUAS/openuas_parrot_disco.xml @@ -929,7 +929,7 @@ The most crucial part for the magnetometer calibration: - + diff --git a/conf/airframes/examples/bixler_lisa_m_2.xml b/conf/airframes/examples/bixler_lisa_m_2.xml index a8933a642e..99503fda0c 100644 --- a/conf/airframes/examples/bixler_lisa_m_2.xml +++ b/conf/airframes/examples/bixler_lisa_m_2.xml @@ -155,7 +155,7 @@
- + diff --git a/conf/simulator/nps/nps_sensors_params_ardrone2.h b/conf/simulator/nps/nps_sensors_params_ardrone2.h index 0bad6f3c1f..e9add5df4e 100644 --- a/conf/simulator/nps/nps_sensors_params_ardrone2.h +++ b/conf/simulator/nps/nps_sensors_params_ardrone2.h @@ -121,9 +121,6 @@ * Barometer */ /* m */ -/* aka 2^8/INS_BARO_SENS */ -#define NPS_BARO_QNH 1013.25 -#define NPS_BARO_SENSITIVITY 4.0 #define NPS_BARO_DT (1./5.) #define NPS_BARO_NOISE_STD_DEV 5.e-2 diff --git a/conf/simulator/nps/nps_sensors_params_aspirin_1.5.h b/conf/simulator/nps/nps_sensors_params_aspirin_1.5.h deleted file mode 100644 index 8dd88ac6cf..0000000000 --- a/conf/simulator/nps/nps_sensors_params_aspirin_1.5.h +++ /dev/null @@ -1,167 +0,0 @@ -/* - * Copyright (C) 2012 Felix Ruess - * - * This file is part of paparazzi. - * - * paparazzi is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 2, or (at your option) - * any later version. - * - * paparazzi is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with paparazzi; see the file COPYING. If not, write to - * the Free Software Foundation, 59 Temple Place - Suite 330, - * Boston, MA 02111-1307, USA. - */ - -#ifndef NPS_SENSORS_PARAMS_H -#define NPS_SENSORS_PARAMS_H - -#include "generated/airframe.h" -#include "subsystems/imu.h" - -#if 1 -#define NPS_BODY_TO_IMU_PHI IMU_BODY_TO_IMU_PHI -#define NPS_BODY_TO_IMU_THETA IMU_BODY_TO_IMU_THETA -#define NPS_BODY_TO_IMU_PSI IMU_BODY_TO_IMU_PSI -#else -#define NPS_BODY_TO_IMU_PHI RadOfDeg(0.) -#define NPS_BODY_TO_IMU_THETA RadOfDeg(0.) -#define NPS_BODY_TO_IMU_PSI RadOfDeg(0.) -#endif - -/* - * Accelerometer - */ -/* ADXL345 configured to +-16g with 13bit resolution */ -#define NPS_ACCEL_MIN -4095 -#define NPS_ACCEL_MAX 4095 -/* ms-2 */ -/* aka 2^10/ACCEL_X_SENS */ -#define NPS_ACCEL_SENSITIVITY_XX ACCEL_BFP_OF_REAL(1./37.91) -#define NPS_ACCEL_SENSITIVITY_YY ACCEL_BFP_OF_REAL(1./37.91) -#define NPS_ACCEL_SENSITIVITY_ZZ ACCEL_BFP_OF_REAL(1./39.24) - -#define NPS_ACCEL_NEUTRAL_X 0 -#define NPS_ACCEL_NEUTRAL_Y 0 -#define NPS_ACCEL_NEUTRAL_Z 0 -/* m2s-4 */ -#define NPS_ACCEL_NOISE_STD_DEV_X 5.e-2 -#define NPS_ACCEL_NOISE_STD_DEV_Y 5.e-2 -#define NPS_ACCEL_NOISE_STD_DEV_Z 5.e-2 -/* ms-2 */ -#define NPS_ACCEL_BIAS_X 0 -#define NPS_ACCEL_BIAS_Y 0 -#define NPS_ACCEL_BIAS_Z 0 -/* s */ -#define NPS_ACCEL_DT (1./512.) - - - -/* - * Gyrometer - */ -/* IMU-3000 has 16 bit resolution */ -#define NPS_GYRO_MIN -32767 -#define NPS_GYRO_MAX 32767 - -/* 2^12/GYRO_X_SENS */ -#define NPS_GYRO_SENSITIVITY_PP RATE_BFP_OF_REAL(1./4.359) -#define NPS_GYRO_SENSITIVITY_QQ RATE_BFP_OF_REAL(1./4.359) -#define NPS_GYRO_SENSITIVITY_RR RATE_BFP_OF_REAL(1./4.359) - -#define NPS_GYRO_NEUTRAL_P 0 -#define NPS_GYRO_NEUTRAL_Q 0 -#define NPS_GYRO_NEUTRAL_R 0 - -#define NPS_GYRO_NOISE_STD_DEV_P RadOfDeg(0.) -#define NPS_GYRO_NOISE_STD_DEV_Q RadOfDeg(0.) -#define NPS_GYRO_NOISE_STD_DEV_R RadOfDeg(0.) - -#define NPS_GYRO_BIAS_INITIAL_P RadOfDeg( 0.0) -#define NPS_GYRO_BIAS_INITIAL_Q RadOfDeg( 0.0) -#define NPS_GYRO_BIAS_INITIAL_R RadOfDeg( 0.0) - -#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_P RadOfDeg(0.5) -#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_Q RadOfDeg(0.5) -#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_R RadOfDeg(0.5) -/* s */ -#define NPS_GYRO_DT (1./512.) - - - -/* - * Magnetometer - */ - /* HMC5843 has 12 bit resolution */ -#define NPS_MAG_MIN -2047 -#define NPS_MAG_MAX 2047 - -#define NPS_MAG_IMU_TO_SENSOR_PHI 0. -#define NPS_MAG_IMU_TO_SENSOR_THETA 0. -#define NPS_MAG_IMU_TO_SENSOR_PSI 0. - -#define NPS_MAG_SENSITIVITY_XX IMU_MAG_X_SIGN * MAG_BFP_OF_REAL(1./IMU_MAG_X_SENS) -#define NPS_MAG_SENSITIVITY_YY IMU_MAG_Y_SIGN * MAG_BFP_OF_REAL(1./IMU_MAG_Y_SENS) -#define NPS_MAG_SENSITIVITY_ZZ IMU_MAG_Z_SIGN * MAG_BFP_OF_REAL(1./IMU_MAG_Z_SENS) - -#define NPS_MAG_NEUTRAL_X IMU_MAG_X_NEUTRAL -#define NPS_MAG_NEUTRAL_Y IMU_MAG_Y_NEUTRAL -#define NPS_MAG_NEUTRAL_Z IMU_MAG_Z_NEUTRAL - -#define NPS_MAG_NOISE_STD_DEV_X 2e-3 -#define NPS_MAG_NOISE_STD_DEV_Y 2e-3 -#define NPS_MAG_NOISE_STD_DEV_Z 2e-3 - -#define NPS_MAG_DT (1./100.) - - -/* - * Barometer (pressure and std dev in Pascal) - */ -#define NPS_BARO_DT (1./50.) -#define NPS_BARO_NOISE_STD_DEV 2 - - -/* - * GPS - */ - -#define GPS_PERFECT 1 - -#if GPS_PERFECT - -#define NPS_GPS_SPEED_NOISE_STD_DEV 0. -#define NPS_GPS_SPEED_LATENCY 0. -#define NPS_GPS_POS_NOISE_STD_DEV 0.001 -#define NPS_GPS_POS_BIAS_INITIAL_X 0. -#define NPS_GPS_POS_BIAS_INITIAL_Y 0. -#define NPS_GPS_POS_BIAS_INITIAL_Z 0. -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X 0. -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y 0. -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z 0. -#define NPS_GPS_POS_LATENCY 0. - -#else - -#define NPS_GPS_SPEED_NOISE_STD_DEV 0.5 -#define NPS_GPS_SPEED_LATENCY 0.2 -#define NPS_GPS_POS_NOISE_STD_DEV 2 -#define NPS_GPS_POS_BIAS_INITIAL_X 0e-1 -#define NPS_GPS_POS_BIAS_INITIAL_Y -0e-1 -#define NPS_GPS_POS_BIAS_INITIAL_Z -0e-1 -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X 1e-3 -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y 1e-3 -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z 1e-3 -#define NPS_GPS_POS_LATENCY 0.2 - -#endif /* GPS_PERFECT */ - -#define NPS_GPS_DT (1./4.) - -#endif /* NPS_SENSORS_PARAMS_H */ diff --git a/conf/simulator/nps/nps_sensors_params_booz2_a1.h b/conf/simulator/nps/nps_sensors_params_booz2_a1.h deleted file mode 100644 index 30503348b1..0000000000 --- a/conf/simulator/nps/nps_sensors_params_booz2_a1.h +++ /dev/null @@ -1,164 +0,0 @@ -/* - * $Id$ - * - * Copyright (C) 2009 Antoine Drouin - * - * This file is part of paparazzi. - * - * paparazzi is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 2, or (at your option) - * any later version. - * - * paparazzi is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with paparazzi; see the file COPYING. If not, write to - * the Free Software Foundation, 59 Temple Place - Suite 330, - * Boston, MA 02111-1307, USA. - * - */ - -#ifndef NPS_SENSORS_PARAMS_H -#define NPS_SENSORS_PARAMS_H - -#include "generated/airframe.h" - -#if 1 -#define NPS_BODY_TO_IMU_PHI IMU_BODY_TO_IMU_PHI -#define NPS_BODY_TO_IMU_THETA IMU_BODY_TO_IMU_THETA -#define NPS_BODY_TO_IMU_PSI IMU_BODY_TO_IMU_PSI -#else -#define NPS_BODY_TO_IMU_PHI RadOfDeg(0.) -#define NPS_BODY_TO_IMU_THETA RadOfDeg(0.) -#define NPS_BODY_TO_IMU_PSI RadOfDeg(0.) -#endif - -/* - * Accelerometer - */ -#define NPS_ACCEL_MIN 0 -#define NPS_ACCEL_MAX 65536 -/* ms-2 */ -/* aka 2^10/ACCEL_X_SENS */ -#define NPS_ACCEL_SENSITIVITY_XX ACCEL_BFP_OF_REAL(-1./2.50411474) -#define NPS_ACCEL_SENSITIVITY_YY ACCEL_BFP_OF_REAL(-1./2.48126183) -#define NPS_ACCEL_SENSITIVITY_ZZ ACCEL_BFP_OF_REAL(-1./2.51396167) - -#define NPS_ACCEL_NEUTRAL_X 32081 -#define NPS_ACCEL_NEUTRAL_Y 33738 -#define NPS_ACCEL_NEUTRAL_Z 32441 -/* m2s-4 */ -#define NPS_ACCEL_NOISE_STD_DEV_X 5.e-2 -#define NPS_ACCEL_NOISE_STD_DEV_Y 5.e-2 -#define NPS_ACCEL_NOISE_STD_DEV_Z 5.e-2 -/* ms-2 */ -#define NPS_ACCEL_BIAS_X 0 -#define NPS_ACCEL_BIAS_Y 0 -#define NPS_ACCEL_BIAS_Z 0 -/* s */ -#define NPS_ACCEL_DT (1./512.) - - - -/* - * Gyrometer - */ -#define NPS_GYRO_MIN 0 -#define NPS_GYRO_MAX 65536 - -/* 2^12/GYRO_X_SENS */ -#define NPS_GYRO_SENSITIVITY_PP RATE_BFP_OF_REAL( 1./1.01) -#define NPS_GYRO_SENSITIVITY_QQ RATE_BFP_OF_REAL(-1./1.01) -#define NPS_GYRO_SENSITIVITY_RR RATE_BFP_OF_REAL(-1./1.01) - -#define NPS_GYRO_NEUTRAL_P 33924 -#define NPS_GYRO_NEUTRAL_Q 33417 -#define NPS_GYRO_NEUTRAL_R 32809 - -#define NPS_GYRO_NOISE_STD_DEV_P RadOfDeg(0.) -#define NPS_GYRO_NOISE_STD_DEV_Q RadOfDeg(0.) -#define NPS_GYRO_NOISE_STD_DEV_R RadOfDeg(0.) - -#define NPS_GYRO_BIAS_INITIAL_P RadOfDeg( 0.0) -#define NPS_GYRO_BIAS_INITIAL_Q RadOfDeg( 0.0) -#define NPS_GYRO_BIAS_INITIAL_R RadOfDeg( 0.0) - -#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_P RadOfDeg(0.5) -#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_Q RadOfDeg(0.5) -#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_R RadOfDeg(0.5) -/* s */ -#define NPS_GYRO_DT (1./512.) - - - -/* - * Magnetometer - */ -#define NPS_MAG_MIN -32767 -#define NPS_MAG_MAX 32767 - -#define NPS_MAG_IMU_TO_SENSOR_PHI 0. -#define NPS_MAG_IMU_TO_SENSOR_THETA 0. -#define NPS_MAG_IMU_TO_SENSOR_PSI RadOfDeg(45.) - -#define NPS_MAG_SENSITIVITY_XX MAG_BFP_OF_REAL(-1./4.94075530) -#define NPS_MAG_SENSITIVITY_YY MAG_BFP_OF_REAL( 1./5.10207664) -#define NPS_MAG_SENSITIVITY_ZZ MAG_BFP_OF_REAL(-1./4.90788848) - -#define NPS_MAG_NEUTRAL_X 2358 -#define NPS_MAG_NEUTRAL_Y 2362 -#define NPS_MAG_NEUTRAL_Z 2119 - -#define NPS_MAG_NOISE_STD_DEV_X 2e-3 -#define NPS_MAG_NOISE_STD_DEV_Y 2e-3 -#define NPS_MAG_NOISE_STD_DEV_Z 2e-3 - -#define NPS_MAG_DT (1./100.) - - -/* - * Barometer (pressure and std dev in Pascal) - */ -#define NPS_BARO_DT (1./50.) -#define NPS_BARO_NOISE_STD_DEV 2 - - -/* - * GPS - */ - -#ifdef GPS_PERFECT - -#define NPS_GPS_SPEED_NOISE_STD_DEV 0. -#define NPS_GPS_SPEED_LATENCY 0. -#define NPS_GPS_POS_NOISE_STD_DEV 0.001 -#define NPS_GPS_POS_BIAS_INITIAL_X 0. -#define NPS_GPS_POS_BIAS_INITIAL_Y 0. -#define NPS_GPS_POS_BIAS_INITIAL_Z 0. -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X 0. -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y 0. -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z 0. -#define NPS_GPS_POS_LATENCY 0. - -#else - -#define NPS_GPS_SPEED_NOISE_STD_DEV 0.5 -#define NPS_GPS_SPEED_LATENCY 0.2 -#define NPS_GPS_POS_NOISE_STD_DEV 2 -#define NPS_GPS_POS_BIAS_INITIAL_X 0e-1 -#define NPS_GPS_POS_BIAS_INITIAL_Y -0e-1 -#define NPS_GPS_POS_BIAS_INITIAL_Z -0e-1 -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X 1e-3 -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y 1e-3 -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z 1e-3 -#define NPS_GPS_POS_LATENCY 0.2 - -#endif /* GPS_PERFECT */ - -#define NPS_GPS_DT (1./4.) - -#endif /* NPS_SENSORS_PARAMS_H */ diff --git a/conf/simulator/nps/nps_sensors_params_booz2_a1p.h b/conf/simulator/nps/nps_sensors_params_booz2_a1p.h deleted file mode 100644 index 2512736737..0000000000 --- a/conf/simulator/nps/nps_sensors_params_booz2_a1p.h +++ /dev/null @@ -1,164 +0,0 @@ -/* - * $Id$ - * - * Copyright (C) 2009 Antoine Drouin - * - * This file is part of paparazzi. - * - * paparazzi is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 2, or (at your option) - * any later version. - * - * paparazzi is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with paparazzi; see the file COPYING. If not, write to - * the Free Software Foundation, 59 Temple Place - Suite 330, - * Boston, MA 02111-1307, USA. - * - */ - -#ifndef NPS_SENSORS_PARAMS_H -#define NPS_SENSORS_PARAMS_H - -#include "generated/airframe.h" - -#if 1 -#define NPS_BODY_TO_IMU_PHI IMU_BODY_TO_IMU_PHI -#define NPS_BODY_TO_IMU_THETA IMU_BODY_TO_IMU_THETA -#define NPS_BODY_TO_IMU_PSI IMU_BODY_TO_IMU_PSI -#else -#define NPS_BODY_TO_IMU_PHI RadOfDeg(0.) -#define NPS_BODY_TO_IMU_THETA RadOfDeg(0.) -#define NPS_BODY_TO_IMU_PSI RadOfDeg(0.) -#endif - -/* - * Accelerometer - */ -#define NPS_ACCEL_MIN 0 -#define NPS_ACCEL_MAX 65536 -/* ms-2 */ -/* aka 2^10/ACCEL_X_SENS */ -#define NPS_ACCEL_SENSITIVITY_XX ACCEL_BFP_OF_REAL(-1./2.50411474) -#define NPS_ACCEL_SENSITIVITY_YY ACCEL_BFP_OF_REAL(-1./2.48126183) -#define NPS_ACCEL_SENSITIVITY_ZZ ACCEL_BFP_OF_REAL(-1./2.51396167) - -#define NPS_ACCEL_NEUTRAL_X 32081 -#define NPS_ACCEL_NEUTRAL_Y 33738 -#define NPS_ACCEL_NEUTRAL_Z 32441 -/* m2s-4 */ -#define NPS_ACCEL_NOISE_STD_DEV_X 5.e-2 -#define NPS_ACCEL_NOISE_STD_DEV_Y 5.e-2 -#define NPS_ACCEL_NOISE_STD_DEV_Z 5.e-2 -/* ms-2 */ -#define NPS_ACCEL_BIAS_X 0 -#define NPS_ACCEL_BIAS_Y 0 -#define NPS_ACCEL_BIAS_Z 0 -/* s */ -#define NPS_ACCEL_DT (1./512.) - - - -/* - * Gyrometer - */ -#define NPS_GYRO_MIN 0 -#define NPS_GYRO_MAX 65536 - -/* 2^12/GYRO_X_SENS */ -#define NPS_GYRO_SENSITIVITY_PP RATE_BFP_OF_REAL( 1./1.01) -#define NPS_GYRO_SENSITIVITY_QQ RATE_BFP_OF_REAL(-1./1.01) -#define NPS_GYRO_SENSITIVITY_RR RATE_BFP_OF_REAL(-1./1.01) - -#define NPS_GYRO_NEUTRAL_P 33924 -#define NPS_GYRO_NEUTRAL_Q 33417 -#define NPS_GYRO_NEUTRAL_R 32809 - -#define NPS_GYRO_NOISE_STD_DEV_P RadOfDeg(0.1) -#define NPS_GYRO_NOISE_STD_DEV_Q RadOfDeg(0.1) -#define NPS_GYRO_NOISE_STD_DEV_R RadOfDeg(0.1) - -#define NPS_GYRO_BIAS_INITIAL_P RadOfDeg( 2.0) -#define NPS_GYRO_BIAS_INITIAL_Q RadOfDeg( 1.0) -#define NPS_GYRO_BIAS_INITIAL_R RadOfDeg(-5.0) - -#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_P RadOfDeg(0.0) -#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_Q RadOfDeg(0.0) -#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_R RadOfDeg(0.0) -/* s */ -#define NPS_GYRO_DT (1./512.) - - - -/* - * Magnetometer - */ -#define NPS_MAG_MIN -32767 -#define NPS_MAG_MAX 32767 - -#define NPS_MAG_IMU_TO_SENSOR_PHI 0. -#define NPS_MAG_IMU_TO_SENSOR_THETA 0. -#define NPS_MAG_IMU_TO_SENSOR_PSI 0. - -#define NPS_MAG_SENSITIVITY_XX MAG_BFP_OF_REAL(-1./4.94075530) -#define NPS_MAG_SENSITIVITY_YY MAG_BFP_OF_REAL( 1./5.10207664) -#define NPS_MAG_SENSITIVITY_ZZ MAG_BFP_OF_REAL(-1./4.90788848) - -#define NPS_MAG_NEUTRAL_X 2358 -#define NPS_MAG_NEUTRAL_Y 2362 -#define NPS_MAG_NEUTRAL_Z 2119 - -#define NPS_MAG_NOISE_STD_DEV_X 2e-3 -#define NPS_MAG_NOISE_STD_DEV_Y 2e-3 -#define NPS_MAG_NOISE_STD_DEV_Z 2e-3 - -#define NPS_MAG_DT (1./100.) - - -/* - * Barometer (pressure and std dev in Pascal) - */ -#define NPS_BARO_DT (1./50.) -#define NPS_BARO_NOISE_STD_DEV 2 - - -/* - * GPS - */ - -#ifdef GPS_PERFECT - -#define NPS_GPS_SPEED_NOISE_STD_DEV 0. -#define NPS_GPS_SPEED_LATENCY 0. -#define NPS_GPS_POS_NOISE_STD_DEV 0.001 -#define NPS_GPS_POS_BIAS_INITIAL_X 0. -#define NPS_GPS_POS_BIAS_INITIAL_Y 0. -#define NPS_GPS_POS_BIAS_INITIAL_Z 0. -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X 0. -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y 0. -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z 0. -#define NPS_GPS_POS_LATENCY 0. - -#else - -#define NPS_GPS_SPEED_NOISE_STD_DEV 1 -#define NPS_GPS_SPEED_LATENCY 0.8 -#define NPS_GPS_POS_NOISE_STD_DEV 2 -#define NPS_GPS_POS_BIAS_INITIAL_X 0e-1 -#define NPS_GPS_POS_BIAS_INITIAL_Y -0e-1 -#define NPS_GPS_POS_BIAS_INITIAL_Z -0e-1 -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X 1e-3 -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y 1e-3 -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z 1e-3 -#define NPS_GPS_POS_LATENCY 0.8 - -#endif /* GPS_PERFECT */ - -#define NPS_GPS_DT (1./4.) - -#endif /* NPS_SENSORS_PARAMS_H */ diff --git a/conf/simulator/nps/nps_sensors_params_default.h b/conf/simulator/nps/nps_sensors_params_default.h index 78700b2611..0cc65f756a 100644 --- a/conf/simulator/nps/nps_sensors_params_default.h +++ b/conf/simulator/nps/nps_sensors_params_default.h @@ -30,12 +30,27 @@ #define NPS_BODY_TO_IMU_THETA IMU_BODY_TO_IMU_THETA #define NPS_BODY_TO_IMU_PSI IMU_BODY_TO_IMU_PSI +// try to determine propagate frequency +#if defined AHRS_PROPAGATE_FREQUENCY +#define NPS_PROPAGATE AHRS_PROPAGATE_FREQUENCY +#elif defined INS_PROPAGATE_FREQUENCY +#define NPS_PROPAGATE INS_PROPAGATE_FREQUENCY +#elif defined PERIODIC_FREQUENCY +#define NPS_PROPAGATE PERIODIC_FREQUENCY +#else +#define 512. // historical magic number +#endif + /* * Accelerometer */ -/* ADXL345 configured to +-16g with 13bit resolution */ -#define NPS_ACCEL_MIN -4095 -#define NPS_ACCEL_MAX 4095 +/* assume resolution is less than 16 bits, so saturation will not occur */ +#ifndef NPS_ACCEL_MIN +#define NPS_ACCEL_MIN -65536 +#endif +#ifndef NPS_ACCEL_MAX +#define NPS_ACCEL_MAX 65536 +#endif /* ms-2 */ /* aka 2^10/ACCEL_X_SENS */ #define NPS_ACCEL_SENSITIVITY_XX (IMU_ACCEL_X_SIGN * ACCEL_BFP_OF_REAL(1./IMU_ACCEL_X_SENS)) @@ -54,16 +69,22 @@ #define NPS_ACCEL_BIAS_Y 0 #define NPS_ACCEL_BIAS_Z 0 /* s */ -#define NPS_ACCEL_DT (1./512.) +#ifndef NPS_ACCEL_DT +#define NPS_ACCEL_DT (1./NPS_PROPAGATE) +#endif /* * Gyrometer */ -/* IMU-3000 has 16 bit resolution */ -#define NPS_GYRO_MIN -32767 -#define NPS_GYRO_MAX 32767 +/* assume resolution is less than 16 bits, so saturation will not occur */ +#ifndef NPS_GYRO_MIN +#define NPS_GYRO_MIN -65536 +#endif +#ifndef NPS_GYRO_MAX +#define NPS_GYRO_MAX 65536 +#endif /* 2^12/GYRO_X_SENS */ #define NPS_GYRO_SENSITIVITY_PP (IMU_GYRO_P_SIGN * RATE_BFP_OF_REAL(1./IMU_GYRO_P_SENS)) @@ -86,16 +107,22 @@ #define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_Q RadOfDeg(0.5) #define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_R RadOfDeg(0.5) /* s */ -#define NPS_GYRO_DT (1./512.) +#ifndef NPS_GYRO_DT +#define NPS_GYRO_DT (1./NPS_PROPAGATE) +#endif /* * Magnetometer */ - /* Large number to avoid saturation */ -#define NPS_MAG_MIN -10000000 -#define NPS_MAG_MAX 10000000 +/* assume resolution is less than 16 bits, so saturation will not occur */ +#ifndef NPS_MAG_MIN +#define NPS_MAG_MIN -65536 +#endif +#ifndef NPS_MAG_MAX +#define NPS_MAG_MAX 65536 +#endif #define NPS_MAG_IMU_TO_SENSOR_PHI 0. #define NPS_MAG_IMU_TO_SENSOR_THETA 0. @@ -113,14 +140,16 @@ #define NPS_MAG_NOISE_STD_DEV_Y 2e-3 #define NPS_MAG_NOISE_STD_DEV_Z 2e-3 +#ifndef NPS_MAG_DT #define NPS_MAG_DT (1./100.) +#endif /* * Barometer (pressure and std dev in Pascal) */ #define NPS_BARO_DT (1./50.) -#define NPS_BARO_NOISE_STD_DEV 2 +#define NPS_BARO_NOISE_STD_DEV 0.2 /* * GPS @@ -158,6 +187,8 @@ #endif /* GPS_PERFECT */ -#define NPS_GPS_DT (1./4.) +#ifndef NPS_GPS_DT +#define NPS_GPS_DT (1./10.) +#endif #endif /* NPS_SENSORS_PARAMS_H */ diff --git a/conf/simulator/nps/nps_sensors_params_hbmini.h b/conf/simulator/nps/nps_sensors_params_hbmini.h deleted file mode 100644 index 6a34f1684b..0000000000 --- a/conf/simulator/nps/nps_sensors_params_hbmini.h +++ /dev/null @@ -1,165 +0,0 @@ -/* - * $Id$ - * - * Copyright (C) 2014 Christoph Niemann - * - * This file is part of paparazzi. - * - * paparazzi is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 2, or (at your option) - * any later version. - * - * paparazzi is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with paparazzi; see the file COPYING. If not, write to - * the Free Software Foundation, 59 Temple Place - Suite 330, - * Boston, MA 02111-1307, USA. - * - */ - -#ifndef NPS_SENSORS_PARAMS_H -#define NPS_SENSORS_PARAMS_H - -#include "generated/airframe.h" - -#if 1 -#define NPS_BODY_TO_IMU_PHI IMU_BODY_TO_IMU_PHI -#define NPS_BODY_TO_IMU_THETA IMU_BODY_TO_IMU_THETA -#define NPS_BODY_TO_IMU_PSI IMU_BODY_TO_IMU_PSI -#else -#define NPS_BODY_TO_IMU_PHI RadOfDeg(0.) -#define NPS_BODY_TO_IMU_THETA RadOfDeg(0.) -#define NPS_BODY_TO_IMU_PSI RadOfDeg(0.) -#endif - -/* - * Accelerometer - */ -#define NPS_ACCEL_MIN 0 -#define NPS_ACCEL_MAX 65536 -/* ms-2 */ -/* aka 2^10/ACCEL_X_SENS */ -#define NPS_ACCEL_SENSITIVITY_XX ACCEL_BFP_OF_REAL( 1./IMU_ACCEL_X_SENS) -#define NPS_ACCEL_SENSITIVITY_YY ACCEL_BFP_OF_REAL( 1./IMU_ACCEL_Y_SENS) -#define NPS_ACCEL_SENSITIVITY_ZZ ACCEL_BFP_OF_REAL( 1./IMU_ACCEL_Z_SENS) - -#define NPS_ACCEL_NEUTRAL_X IMU_ACCEL_X_NEUTRAL -#define NPS_ACCEL_NEUTRAL_Y IMU_ACCEL_Y_NEUTRAL -#define NPS_ACCEL_NEUTRAL_Z IMU_ACCEL_Z_NEUTRAL -/* m2s-4 */ -#define NPS_ACCEL_NOISE_STD_DEV_X 5.e-2 -#define NPS_ACCEL_NOISE_STD_DEV_Y 5.e-2 -#define NPS_ACCEL_NOISE_STD_DEV_Z 5.e-2 -/* ms-2 */ -#define NPS_ACCEL_BIAS_X 0 -#define NPS_ACCEL_BIAS_Y 0 -#define NPS_ACCEL_BIAS_Z 0 -/* s */ -#define NPS_ACCEL_DT (1./512.) - - - -/* - * Gyrometer - */ -#define NPS_GYRO_MIN 0 -#define NPS_GYRO_MAX 65536 - -/* 2^12/GYRO_X_SENS */ -#define NPS_GYRO_SENSITIVITY_PP RATE_BFP_OF_REAL( 1./IMU_GYRO_P_SENS) -#define NPS_GYRO_SENSITIVITY_QQ RATE_BFP_OF_REAL( 1./IMU_GYRO_Q_SENS) -#define NPS_GYRO_SENSITIVITY_RR RATE_BFP_OF_REAL( 1./IMU_GYRO_R_SENS) - -#define NPS_GYRO_NEUTRAL_P IMU_GYRO_P_NEUTRAL -#define NPS_GYRO_NEUTRAL_Q IMU_GYRO_Q_NEUTRAL -#define NPS_GYRO_NEUTRAL_R IMU_GYRO_R_NEUTRAL - -#define NPS_GYRO_NOISE_STD_DEV_P RadOfDeg(0.) -#define NPS_GYRO_NOISE_STD_DEV_Q RadOfDeg(0.) -#define NPS_GYRO_NOISE_STD_DEV_R RadOfDeg(0.) - -#define NPS_GYRO_BIAS_INITIAL_P RadOfDeg( 0.0) -#define NPS_GYRO_BIAS_INITIAL_Q RadOfDeg( 0.0) -#define NPS_GYRO_BIAS_INITIAL_R RadOfDeg( 0.0) - -#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_P RadOfDeg(0.5) -#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_Q RadOfDeg(0.5) -#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_R RadOfDeg(0.5) -/* s */ -#define NPS_GYRO_DT (1./512.) - - - -/* - * Magnetometer - */ - /* HMC5843 has 12 bit resolution */ -#define NPS_MAG_MIN -2047 -#define NPS_MAG_MAX 2047 - -#define NPS_MAG_IMU_TO_SENSOR_PHI 0. -#define NPS_MAG_IMU_TO_SENSOR_THETA 0. -#define NPS_MAG_IMU_TO_SENSOR_PSI 0. - -#define NPS_MAG_SENSITIVITY_XX MAG_BFP_OF_REAL(1./IMU_MAG_X_SENS) -#define NPS_MAG_SENSITIVITY_YY MAG_BFP_OF_REAL(1./IMU_MAG_Y_SENS) -#define NPS_MAG_SENSITIVITY_ZZ MAG_BFP_OF_REAL(1./IMU_MAG_Z_SENS) - -#define NPS_MAG_NEUTRAL_X IMU_MAG_X_NEUTRAL -#define NPS_MAG_NEUTRAL_Y IMU_MAG_Y_NEUTRAL -#define NPS_MAG_NEUTRAL_Z IMU_MAG_Z_NEUTRAL - -#define NPS_MAG_NOISE_STD_DEV_X 2e-3 -#define NPS_MAG_NOISE_STD_DEV_Y 2e-3 -#define NPS_MAG_NOISE_STD_DEV_Z 2e-3 - -#define NPS_MAG_DT (1./100.) - - -/* - * Barometer (pressure and std dev in Pascal) - */ -#define NPS_BARO_DT (1./50.) -#define NPS_BARO_NOISE_STD_DEV 2 - - -/* - * GPS - */ - -#ifdef GPS_PERFECT - -#define NPS_GPS_SPEED_NOISE_STD_DEV 0. -#define NPS_GPS_SPEED_LATENCY 0. -#define NPS_GPS_POS_NOISE_STD_DEV 0.001 -#define NPS_GPS_POS_BIAS_INITIAL_X 0. -#define NPS_GPS_POS_BIAS_INITIAL_Y 0. -#define NPS_GPS_POS_BIAS_INITIAL_Z 0. -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X 0. -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y 0. -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z 0. -#define NPS_GPS_POS_LATENCY 0. - -#else - -#define NPS_GPS_SPEED_NOISE_STD_DEV 0.5 -#define NPS_GPS_SPEED_LATENCY 0.2 -#define NPS_GPS_POS_NOISE_STD_DEV 2 -#define NPS_GPS_POS_BIAS_INITIAL_X 0e-1 -#define NPS_GPS_POS_BIAS_INITIAL_Y -0e-1 -#define NPS_GPS_POS_BIAS_INITIAL_Z -0e-1 -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X 1e-3 -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y 1e-3 -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z 1e-3 -#define NPS_GPS_POS_LATENCY 0.2 - -#endif /* GPS_PERFECT */ - -#define NPS_GPS_DT (1./4.) - -#endif /* NPS_SENSORS_PARAMS_H */ diff --git a/conf/simulator/nps/nps_sensors_params_invariant.h b/conf/simulator/nps/nps_sensors_params_invariant.h deleted file mode 100644 index 71e160a573..0000000000 --- a/conf/simulator/nps/nps_sensors_params_invariant.h +++ /dev/null @@ -1,168 +0,0 @@ -/* - * Copyright (C) 2013 Felix Ruess, Gautier Hattenberger, JP Condomines - * - * This file is part of paparazzi. - * - * paparazzi is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 2, or (at your option) - * any later version. - * - * paparazzi is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with paparazzi; see the file COPYING. If not, write to - * the Free Software Foundation, 59 Temple Place - Suite 330, - * Boston, MA 02111-1307, USA. - */ - -#ifndef NPS_SENSORS_PARAMS_H -#define NPS_SENSORS_PARAMS_H - -#include "generated/airframe.h" -#include "subsystems/imu.h" - - -#define NPS_BODY_TO_IMU_PHI IMU_BODY_TO_IMU_PHI -#define NPS_BODY_TO_IMU_THETA IMU_BODY_TO_IMU_THETA -#define NPS_BODY_TO_IMU_PSI IMU_BODY_TO_IMU_PSI - -/* - * Accelerometer - */ -/* MPU6050 has 16bit resolution */ -#define NPS_ACCEL_MIN -32767 -#define NPS_ACCEL_MAX 32767 -/* ms-2 */ -/* aka 2^10/ACCEL_X_SENS */ -#define NPS_ACCEL_SENSITIVITY_XX (IMU_ACCEL_X_SIGN * ACCEL_BFP_OF_REAL(1./IMU_ACCEL_X_SENS)) -#define NPS_ACCEL_SENSITIVITY_YY (IMU_ACCEL_Y_SIGN * ACCEL_BFP_OF_REAL(1./IMU_ACCEL_Y_SENS)) -#define NPS_ACCEL_SENSITIVITY_ZZ (IMU_ACCEL_Z_SIGN * ACCEL_BFP_OF_REAL(1./IMU_ACCEL_Z_SENS)) - -#define NPS_ACCEL_NEUTRAL_X IMU_ACCEL_X_NEUTRAL -#define NPS_ACCEL_NEUTRAL_Y IMU_ACCEL_Y_NEUTRAL -#define NPS_ACCEL_NEUTRAL_Z IMU_ACCEL_Z_NEUTRAL -/* m2s-4 */ -#define NPS_ACCEL_NOISE_STD_DEV_X 5.e-2 -#define NPS_ACCEL_NOISE_STD_DEV_Y 5.e-2 -#define NPS_ACCEL_NOISE_STD_DEV_Z 5.e-2 -/* ms-2 */ -#define NPS_ACCEL_BIAS_X 0 -#define NPS_ACCEL_BIAS_Y 0 -#define NPS_ACCEL_BIAS_Z 0 -/* s */ -#define NPS_ACCEL_DT (1./125.) - - - -/* - * Gyrometer - */ -/* MPU6050 has 16 bit resolution */ -#define NPS_GYRO_MIN -32767 -#define NPS_GYRO_MAX 32767 - -/* 2^12/GYRO_X_SENS */ -#define NPS_GYRO_SENSITIVITY_PP (IMU_GYRO_P_SIGN * RATE_BFP_OF_REAL(1./IMU_GYRO_P_SENS)) -#define NPS_GYRO_SENSITIVITY_QQ (IMU_GYRO_Q_SIGN * RATE_BFP_OF_REAL(1./IMU_GYRO_Q_SENS)) -#define NPS_GYRO_SENSITIVITY_RR (IMU_GYRO_R_SIGN * RATE_BFP_OF_REAL(1./IMU_GYRO_R_SENS)) - -#define NPS_GYRO_NEUTRAL_P IMU_GYRO_P_NEUTRAL -#define NPS_GYRO_NEUTRAL_Q IMU_GYRO_Q_NEUTRAL -#define NPS_GYRO_NEUTRAL_R IMU_GYRO_R_NEUTRAL - -#define NPS_GYRO_NOISE_STD_DEV_P RadOfDeg(0.) -#define NPS_GYRO_NOISE_STD_DEV_Q RadOfDeg(0.) -#define NPS_GYRO_NOISE_STD_DEV_R RadOfDeg(0.) - -#define NPS_GYRO_BIAS_INITIAL_P RadOfDeg( 0.0) -#define NPS_GYRO_BIAS_INITIAL_Q RadOfDeg( 0.0) -#define NPS_GYRO_BIAS_INITIAL_R RadOfDeg( 0.0) - -#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_P RadOfDeg(0.5) -#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_Q RadOfDeg(0.5) -#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_R RadOfDeg(0.5) -/* s */ -#define NPS_GYRO_DT (1./125.) - - - -/* - * Magnetometer - */ - /* HMC5883 has 12 bit resolution */ -#define NPS_MAG_MIN -2047 -#define NPS_MAG_MAX 2047 - -#define NPS_MAG_IMU_TO_SENSOR_PHI 0. -#define NPS_MAG_IMU_TO_SENSOR_THETA 0. -#define NPS_MAG_IMU_TO_SENSOR_PSI 0. - -#define NPS_MAG_SENSITIVITY_XX (IMU_MAG_X_SIGN * MAG_BFP_OF_REAL(1./IMU_MAG_X_SENS)) -#define NPS_MAG_SENSITIVITY_YY (IMU_MAG_Y_SIGN * MAG_BFP_OF_REAL(1./IMU_MAG_Y_SENS)) -#define NPS_MAG_SENSITIVITY_ZZ (IMU_MAG_Z_SIGN * MAG_BFP_OF_REAL(1./IMU_MAG_Z_SENS)) - -#define NPS_MAG_NEUTRAL_X IMU_MAG_X_NEUTRAL -#define NPS_MAG_NEUTRAL_Y IMU_MAG_Y_NEUTRAL -#define NPS_MAG_NEUTRAL_Z IMU_MAG_Z_NEUTRAL - -#define NPS_MAG_NOISE_STD_DEV_X 2e-3 -#define NPS_MAG_NOISE_STD_DEV_Y 2e-3 -#define NPS_MAG_NOISE_STD_DEV_Z 2e-3 - -#define NPS_MAG_DT (1./60.) - - -/* - * Barometer - */ -/* m */ -/* aka 2^8/INS_BARO_SENS */ -#define NPS_BARO_QNH 1013.25 -#define NPS_BARO_SENSITIVITY 4.0 -#define NPS_BARO_DT (1./5.) -#define NPS_BARO_NOISE_STD_DEV 5.e-2 - -/* - * GPS - */ - -#ifndef GPS_PERFECT -#define GPS_PERFECT 1 -#endif - -#if GPS_PERFECT - -#define NPS_GPS_SPEED_NOISE_STD_DEV 0. -#define NPS_GPS_SPEED_LATENCY 0. -#define NPS_GPS_POS_NOISE_STD_DEV 0.001 -#define NPS_GPS_POS_BIAS_INITIAL_X 0. -#define NPS_GPS_POS_BIAS_INITIAL_Y 0. -#define NPS_GPS_POS_BIAS_INITIAL_Z 0. -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X 0. -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y 0. -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z 0. -#define NPS_GPS_POS_LATENCY 0. - -#else - -#define NPS_GPS_SPEED_NOISE_STD_DEV 0.5 -#define NPS_GPS_SPEED_LATENCY 0.2 -#define NPS_GPS_POS_NOISE_STD_DEV 2 -#define NPS_GPS_POS_BIAS_INITIAL_X 0e-1 -#define NPS_GPS_POS_BIAS_INITIAL_Y -0e-1 -#define NPS_GPS_POS_BIAS_INITIAL_Z -0e-1 -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X 1e-3 -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y 1e-3 -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z 1e-3 -#define NPS_GPS_POS_LATENCY 0.2 - -#endif /* GPS_PERFECT */ - -#define NPS_GPS_DT (1./5.) - -#endif /* NPS_SENSORS_PARAMS_H */ - diff --git a/conf/simulator/nps/nps_sensors_params_vectornav.h b/conf/simulator/nps/nps_sensors_params_vectornav.h deleted file mode 100644 index eda949f471..0000000000 --- a/conf/simulator/nps/nps_sensors_params_vectornav.h +++ /dev/null @@ -1,163 +0,0 @@ -/* - * Copyright (C) 2012 Felix Ruess - * - * This file is part of paparazzi. - * - * paparazzi is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 2, or (at your option) - * any later version. - * - * paparazzi is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with paparazzi; see the file COPYING. If not, write to - * the Free Software Foundation, 59 Temple Place - Suite 330, - * Boston, MA 02111-1307, USA. - */ - -#ifndef NPS_SENSORS_PARAMS_H -#define NPS_SENSORS_PARAMS_H - -#include "generated/airframe.h" -#include "subsystems/imu.h" - - -#define NPS_BODY_TO_IMU_PHI IMU_BODY_TO_IMU_PHI -#define NPS_BODY_TO_IMU_THETA IMU_BODY_TO_IMU_THETA -#define NPS_BODY_TO_IMU_PSI IMU_BODY_TO_IMU_PSI - -/* - * Accelerometer - */ -/* ADXL345 configured to +-16g with 13bit resolution */ -#define NPS_ACCEL_MIN -4095 -#define NPS_ACCEL_MAX 4095 -/* ms-2 */ -/* aka 2^10/ACCEL_X_SENS */ -#define NPS_ACCEL_SENSITIVITY_XX (IMU_ACCEL_X_SIGN * ACCEL_BFP_OF_REAL(1./IMU_ACCEL_X_SENS)) -#define NPS_ACCEL_SENSITIVITY_YY (IMU_ACCEL_Y_SIGN * ACCEL_BFP_OF_REAL(1./IMU_ACCEL_Y_SENS)) -#define NPS_ACCEL_SENSITIVITY_ZZ (IMU_ACCEL_Z_SIGN * ACCEL_BFP_OF_REAL(1./IMU_ACCEL_Z_SENS)) - -#define NPS_ACCEL_NEUTRAL_X IMU_ACCEL_X_NEUTRAL -#define NPS_ACCEL_NEUTRAL_Y IMU_ACCEL_Y_NEUTRAL -#define NPS_ACCEL_NEUTRAL_Z IMU_ACCEL_Z_NEUTRAL -/* m2s-4 */ -#define NPS_ACCEL_NOISE_STD_DEV_X 5.e-2 -#define NPS_ACCEL_NOISE_STD_DEV_Y 5.e-2 -#define NPS_ACCEL_NOISE_STD_DEV_Z 5.e-2 -/* ms-2 */ -#define NPS_ACCEL_BIAS_X 0 -#define NPS_ACCEL_BIAS_Y 0 -#define NPS_ACCEL_BIAS_Z 0 -/* s */ -#define NPS_ACCEL_DT (1./512.) - - - -/* - * Gyrometer - */ -/* IMU-3000 has 16 bit resolution */ -#define NPS_GYRO_MIN -32767 -#define NPS_GYRO_MAX 32767 - -/* 2^12/GYRO_X_SENS */ -#define NPS_GYRO_SENSITIVITY_PP (IMU_GYRO_P_SIGN * RATE_BFP_OF_REAL(1./IMU_GYRO_P_SENS)) -#define NPS_GYRO_SENSITIVITY_QQ (IMU_GYRO_Q_SIGN * RATE_BFP_OF_REAL(1./IMU_GYRO_Q_SENS)) -#define NPS_GYRO_SENSITIVITY_RR (IMU_GYRO_R_SIGN * RATE_BFP_OF_REAL(1./IMU_GYRO_R_SENS)) - -#define NPS_GYRO_NEUTRAL_P IMU_GYRO_P_NEUTRAL -#define NPS_GYRO_NEUTRAL_Q IMU_GYRO_Q_NEUTRAL -#define NPS_GYRO_NEUTRAL_R IMU_GYRO_R_NEUTRAL - -#define NPS_GYRO_NOISE_STD_DEV_P RadOfDeg(0.) -#define NPS_GYRO_NOISE_STD_DEV_Q RadOfDeg(0.) -#define NPS_GYRO_NOISE_STD_DEV_R RadOfDeg(0.) - -#define NPS_GYRO_BIAS_INITIAL_P RadOfDeg( 0.0) -#define NPS_GYRO_BIAS_INITIAL_Q RadOfDeg( 0.0) -#define NPS_GYRO_BIAS_INITIAL_R RadOfDeg( 0.0) - -#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_P RadOfDeg(0.5) -#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_Q RadOfDeg(0.5) -#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_R RadOfDeg(0.5) -/* s */ -#define NPS_GYRO_DT (1./512.) - - - -/* - * Magnetometer - */ - /* HMC5843 has 12 bit resolution */ -#define NPS_MAG_MIN -2047 -#define NPS_MAG_MAX 2047 - -#define NPS_MAG_IMU_TO_SENSOR_PHI 0. -#define NPS_MAG_IMU_TO_SENSOR_THETA 0. -#define NPS_MAG_IMU_TO_SENSOR_PSI 0. - -#define NPS_MAG_SENSITIVITY_XX (IMU_MAG_X_SIGN * MAG_BFP_OF_REAL(1./IMU_MAG_X_SENS)) -#define NPS_MAG_SENSITIVITY_YY (IMU_MAG_Y_SIGN * MAG_BFP_OF_REAL(1./IMU_MAG_Y_SENS)) -#define NPS_MAG_SENSITIVITY_ZZ (IMU_MAG_Z_SIGN * MAG_BFP_OF_REAL(1./IMU_MAG_Z_SENS)) - -#define NPS_MAG_NEUTRAL_X IMU_MAG_X_NEUTRAL -#define NPS_MAG_NEUTRAL_Y IMU_MAG_Y_NEUTRAL -#define NPS_MAG_NEUTRAL_Z IMU_MAG_Z_NEUTRAL - -#define NPS_MAG_NOISE_STD_DEV_X 2e-3 -#define NPS_MAG_NOISE_STD_DEV_Y 2e-3 -#define NPS_MAG_NOISE_STD_DEV_Z 2e-3 - -#define NPS_MAG_DT (1./100.) - - -/* - * Barometer (pressure and std dev in Pascal) - */ -#define NPS_BARO_DT (1./50.) -#define NPS_BARO_NOISE_STD_DEV 2 - -/* - * GPS - */ - -#ifndef GPS_PERFECT -#define GPS_PERFECT 1 -#endif - -#if GPS_PERFECT - -#define NPS_GPS_SPEED_NOISE_STD_DEV 0. -#define NPS_GPS_SPEED_LATENCY 0. -#define NPS_GPS_POS_NOISE_STD_DEV 0.001 -#define NPS_GPS_POS_BIAS_INITIAL_X 0. -#define NPS_GPS_POS_BIAS_INITIAL_Y 0. -#define NPS_GPS_POS_BIAS_INITIAL_Z 0. -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X 0. -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y 0. -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z 0. -#define NPS_GPS_POS_LATENCY 0. - -#else - -#define NPS_GPS_SPEED_NOISE_STD_DEV 0.5 -#define NPS_GPS_SPEED_LATENCY 0.2 -#define NPS_GPS_POS_NOISE_STD_DEV 2 -#define NPS_GPS_POS_BIAS_INITIAL_X 0e-1 -#define NPS_GPS_POS_BIAS_INITIAL_Y -0e-1 -#define NPS_GPS_POS_BIAS_INITIAL_Z -0e-1 -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X 1e-3 -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y 1e-3 -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z 1e-3 -#define NPS_GPS_POS_LATENCY 0.2 - -#endif /* GPS_PERFECT */ - -#define NPS_GPS_DT (1./512.) - -#endif /* NPS_SENSORS_PARAMS_H */ diff --git a/conf/simulator/nps/nps_sensors_params_wind_estimator.h b/conf/simulator/nps/nps_sensors_params_wind_estimator.h deleted file mode 100644 index 9638a758df..0000000000 --- a/conf/simulator/nps/nps_sensors_params_wind_estimator.h +++ /dev/null @@ -1,171 +0,0 @@ -/* - * Copyright (C) 2016 Gautier Hattenberger - * - * This file is part of paparazzi. - * - * paparazzi is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 2, or (at your option) - * any later version. - * - * paparazzi is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with paparazzi; see the file COPYING. If not, write to - * the Free Software Foundation, 59 Temple Place - Suite 330, - * Boston, MA 02111-1307, USA. - */ - -#ifndef NPS_SENSORS_PARAMS_H -#define NPS_SENSORS_PARAMS_H - -#include "generated/airframe.h" -#include "subsystems/imu.h" - - -#define NPS_BODY_TO_IMU_PHI IMU_BODY_TO_IMU_PHI -#define NPS_BODY_TO_IMU_THETA IMU_BODY_TO_IMU_THETA -#define NPS_BODY_TO_IMU_PSI IMU_BODY_TO_IMU_PSI - -/* - * Accelerometer - */ -/* MPU60x0 has 16bit resolution */ -#define NPS_ACCEL_MIN -32767 -#define NPS_ACCEL_MAX 32767 -/* ms-2 */ -/* aka 2^10/ACCEL_X_SENS */ -#define NPS_ACCEL_SENSITIVITY_XX (IMU_ACCEL_X_SIGN * ACCEL_BFP_OF_REAL(1./IMU_ACCEL_X_SENS)) -#define NPS_ACCEL_SENSITIVITY_YY (IMU_ACCEL_Y_SIGN * ACCEL_BFP_OF_REAL(1./IMU_ACCEL_Y_SENS)) -#define NPS_ACCEL_SENSITIVITY_ZZ (IMU_ACCEL_Z_SIGN * ACCEL_BFP_OF_REAL(1./IMU_ACCEL_Z_SENS)) - -#define NPS_ACCEL_NEUTRAL_X IMU_ACCEL_X_NEUTRAL -#define NPS_ACCEL_NEUTRAL_Y IMU_ACCEL_Y_NEUTRAL -#define NPS_ACCEL_NEUTRAL_Z IMU_ACCEL_Z_NEUTRAL -/* m2s-4 */ -#define NPS_ACCEL_NOISE_STD_DEV_X 5.e-2 -#define NPS_ACCEL_NOISE_STD_DEV_Y 5.e-2 -#define NPS_ACCEL_NOISE_STD_DEV_Z 5.e-2 -/* ms-2 */ -#define NPS_ACCEL_BIAS_X 0 -#define NPS_ACCEL_BIAS_Y 0 -#define NPS_ACCEL_BIAS_Z 0 -/* s */ -#ifndef NPS_ACCEL_DT -#define NPS_ACCEL_DT (1./125.) -#endif - - - -/* - * Gyrometer - */ -/* MPU60x0 has 16 bit resolution */ -#define NPS_GYRO_MIN -32767 -#define NPS_GYRO_MAX 32767 - -/* 2^12/GYRO_X_SENS */ -#define NPS_GYRO_SENSITIVITY_PP (IMU_GYRO_P_SIGN * RATE_BFP_OF_REAL(1./IMU_GYRO_P_SENS)) -#define NPS_GYRO_SENSITIVITY_QQ (IMU_GYRO_Q_SIGN * RATE_BFP_OF_REAL(1./IMU_GYRO_Q_SENS)) -#define NPS_GYRO_SENSITIVITY_RR (IMU_GYRO_R_SIGN * RATE_BFP_OF_REAL(1./IMU_GYRO_R_SENS)) - -#define NPS_GYRO_NEUTRAL_P IMU_GYRO_P_NEUTRAL -#define NPS_GYRO_NEUTRAL_Q IMU_GYRO_Q_NEUTRAL -#define NPS_GYRO_NEUTRAL_R IMU_GYRO_R_NEUTRAL - -#define NPS_GYRO_NOISE_STD_DEV_P RadOfDeg(0.) -#define NPS_GYRO_NOISE_STD_DEV_Q RadOfDeg(0.) -#define NPS_GYRO_NOISE_STD_DEV_R RadOfDeg(0.) - -#define NPS_GYRO_BIAS_INITIAL_P RadOfDeg( 0.0) -#define NPS_GYRO_BIAS_INITIAL_Q RadOfDeg( 0.0) -#define NPS_GYRO_BIAS_INITIAL_R RadOfDeg( 0.0) - -#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_P RadOfDeg(0.5) -#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_Q RadOfDeg(0.5) -#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_R RadOfDeg(0.5) -/* s */ -#ifndef NPS_GYRO_DT -#define NPS_GYRO_DT (1./125.) -#endif - - - -/* - * Magnetometer - */ - /* HMC5843 has 12 bit resolution */ -#define NPS_MAG_MIN -2047 -#define NPS_MAG_MAX 2047 - -#define NPS_MAG_IMU_TO_SENSOR_PHI 0. -#define NPS_MAG_IMU_TO_SENSOR_THETA 0. -#define NPS_MAG_IMU_TO_SENSOR_PSI 0. - -#define NPS_MAG_SENSITIVITY_XX (IMU_MAG_X_SIGN * MAG_BFP_OF_REAL(1./IMU_MAG_X_SENS)) -#define NPS_MAG_SENSITIVITY_YY (IMU_MAG_Y_SIGN * MAG_BFP_OF_REAL(1./IMU_MAG_Y_SENS)) -#define NPS_MAG_SENSITIVITY_ZZ (IMU_MAG_Z_SIGN * MAG_BFP_OF_REAL(1./IMU_MAG_Z_SENS)) - -#define NPS_MAG_NEUTRAL_X IMU_MAG_X_NEUTRAL -#define NPS_MAG_NEUTRAL_Y IMU_MAG_Y_NEUTRAL -#define NPS_MAG_NEUTRAL_Z IMU_MAG_Z_NEUTRAL - -#define NPS_MAG_NOISE_STD_DEV_X 2e-3 -#define NPS_MAG_NOISE_STD_DEV_Y 2e-3 -#define NPS_MAG_NOISE_STD_DEV_Z 2e-3 - -#define NPS_MAG_DT (1./60.) - - -/* - * Barometer - */ -/* m */ -/* aka 2^8/INS_BARO_SENS */ -#define NPS_BARO_QNH 1013.25 -#define NPS_BARO_SENSITIVITY 4.0 -#define NPS_BARO_DT (1./5.) -#define NPS_BARO_NOISE_STD_DEV 5.e-2 - -/* - * GPS - */ - -#ifndef GPS_PERFECT -#define GPS_PERFECT 1 -#endif - -#if GPS_PERFECT - -#define NPS_GPS_SPEED_NOISE_STD_DEV 0. -#define NPS_GPS_SPEED_LATENCY 0. -#define NPS_GPS_POS_NOISE_STD_DEV 0.001 -#define NPS_GPS_POS_BIAS_INITIAL_X 0. -#define NPS_GPS_POS_BIAS_INITIAL_Y 0. -#define NPS_GPS_POS_BIAS_INITIAL_Z 0. -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X 0. -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y 0. -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z 0. -#define NPS_GPS_POS_LATENCY 0. - -#else - -#define NPS_GPS_SPEED_NOISE_STD_DEV 0.5 -#define NPS_GPS_SPEED_LATENCY 0.2 -#define NPS_GPS_POS_NOISE_STD_DEV 2 -#define NPS_GPS_POS_BIAS_INITIAL_X 0e-1 -#define NPS_GPS_POS_BIAS_INITIAL_Y -0e-1 -#define NPS_GPS_POS_BIAS_INITIAL_Z -0e-1 -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X 1e-3 -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y 1e-3 -#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z 1e-3 -#define NPS_GPS_POS_LATENCY 0.2 - -#endif /* GPS_PERFECT */ - -#define NPS_GPS_DT (1./5.) - -#endif /* NPS_SENSORS_PARAMS_H */