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Demo planes

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This commit is contained in:
Martin Mueller
2010-11-18 07:27:21 +00:00
committed by Felix Ruess
parent b22b731f08
commit dc8f296c0c
8 changed files with 653 additions and 51 deletions
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conf/airframes/mm/fixed-wing/slowfast2.xml
+43 -17
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@@ -9,6 +9,38 @@
<airframe name="SlowFast">
<firmware name="fixedwing">
<target name="sim" board="pc"/>
<target name="ap" board="tiny_2.1">
<define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/>
<define name="USE_I2C0"/>
</target>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="navigation"/>
<subsystem name="i2c"/>
<subsystem name="gyro" type="roll">
<param name="ADC_GYRO_ROLL" value="ADC_3"/>
</subsystem>
</firmware>
<!-- modules -->
<modules>
<load name="airspeed_ets.xml">
<!--param name="USE_AIRSPEED" value="1"/-->
<param name="SENSOR_SYNC_SEND" value="1"/>
</load>
</modules>
<!-- commands section -->
<servos>
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
@@ -138,6 +170,16 @@
<define name="THROTTLE_SLEW" value="0.1"/>
<!-- airspeed control -->
<define name="AUTO_AIRSPEED_SETPOINT" value="15."/>
<define name="AUTO_AIRSPEED_PGAIN" value="0.05"/>
<define name="AUTO_AIRSPEED_IGAIN" value="0.01"/>
<define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
<define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
<define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>
<define name="AIRSPEED_MAX" value="45"/>
<define name="AIRSPEED_MIN" value="14"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
@@ -191,11 +233,6 @@
<define name="ROLL_RATE_DGAIN" value="0.0"/>
</section>
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="XBEE"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section>
<!--
<makefile>
CONFIG = \"tiny_2_1.h\"
@@ -253,17 +290,6 @@ sim.srcs += nav_line.c nav_survey_rectangle.c
</makefile>
-->
<firmware name="fixedwing">
<target name="sim" board="pc"/>
<target name="ap" board="tiny_2.1"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="navigation"/>
</firmware>
</airframe>