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Pascal Brisset
2008-01-28 20:08:37 +00:00
parent 58242b00f2
commit de171a55b6
7 changed files with 35 additions and 6 deletions
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conf/airframes/tl.xml
+6 -2
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@@ -50,7 +50,7 @@ ap.ARCH = arm7tdmi
ap.TARGET = flt
ap.TARGETDIR = flt
ap.CFLAGS += -DCONFIG=\"tiny_1_1.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(15e-3)'
ap.CFLAGS += -DCONFIG=\"tiny_1_1.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(16.666e-3)'
ap.srcs = tl_main.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
ap.CFLAGS += -DLED -DLED -DTIME_LED=1
@@ -68,15 +68,19 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
# transparent
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c pprz_transport.c tl_telemetry.c tl_datalink.c
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c pprz_transport.c tl_telemetry.c datalink.c
ap.srcs += tl_autopilot.c tl_control.c tl_estimator.c
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 -DDOWNLINK_GPS_DEVICE=DOWNLINK_AP_DEVICE -DGPS_CONFIGURE -DUSER_GPS_CONFIGURE=\"tl_gps_configure.h\" -DGPS_BAUD=38400
ap.srcs += gps_ubx.c gps.c latlong.c
ap.CFLAGS += -DNAV
ap.srcs += common_nav.c tl_nav.c
ap.CFLAGS += -D BARO_MS5534A_W1=0xABDC -D BARO_MS5534A_W2=0x849A -D BARO_MS5534A_W3=0X939E -D BARO_MS5534A_W4=0xB259
</makefile>
</airframe>
conf/settings/basic.xml
+1 -1
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@@ -16,7 +16,7 @@
</dl_settings>
<dl_settings NAME="mode">
<dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode">
<dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="estimator">
</dl_setting>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="launch">
</dl_setting>
conf/settings/tl.xml
+1 -1
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@@ -4,7 +4,7 @@
<dl_settings>
<dl_settings NAME="flight params">
<dl_setting MAX="1" MIN="0" STEP="1" VAR="estimator_in_flight" shortname="in_flight" module="tl_estimator"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle" shortname="in_flight" module="tl_control"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle" shortname="kill" module="tl_control"/>
</dl_settings>
</dl_settings>
</settings>
conf/telemetry/default.xml
+1
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@@ -3,6 +3,7 @@
<telemetry>
<process name="Ap">
<mode name="default">
<message name="ALIVE" period="5"/>
<message name="ATTITUDE" period="0.5"/>
<message name="ESTIMATOR" period="0.5"/>
<message name="WP_MOVED" period="0.5"/>
conf/telemetry/tl.xml
+4
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@@ -5,12 +5,16 @@
<process name="Ap">
<mode name="default">
<message name="ALIVE" period="5"/>
<message name="PPM" period="5"/>
<message name="RC" period="5"/>
<message name="COMMANDS" period="5"/>
<message name="ACTUATORS" period="1"/> <!-- For trimming -->
<message name="BAT" period="3"/>
<message name="ESTIMATOR" period="1"/>
<message name="NAVIGATION_REF" period="9"/>
<message name="NAVIGATION" period="1"/>
<message name="WP_MOVED" period="0.5"/>
</mode>
</process>
sw/airborne/tl_main.c
+2 -1
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@@ -67,7 +67,8 @@ static inline void tl_main_periodic_task( void ) {
if (rc_status != RC_OK)
tl_autopilot_mode = TL_AP_MODE_FAILSAFE;
RunOnceEvery(15, tl_nav_periodic_task());
/* 4Hz */
RunOnceEvery(15, { common_nav_periodic_task_4Hz(); tl_nav_periodic_task(); });
/* run control loops */
tl_autopilot_periodic_task();
sw/airborne/tl_telemetry.h
+20 -1
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@@ -10,17 +10,36 @@
#include "actuators.h"
#include "tl_bat.h"
#include "tl_estimator.h"
#include "tl_nav.h"
#include "tl_control.h"
#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
#define PERIODIC_SEND_ALIVE() DOWNLINK_SEND_ALIVE()
#define PERIODIC_SEND_RC() DOWNLINK_SEND_RC(PPM_NB_PULSES, rc_values)
#define PERIODIC_SEND_PPM() DOWNLINK_SEND_PPM(PPM_NB_PULSES, ppm_pulses)
#define PERIODIC_SEND_COMMANDS() DOWNLINK_SEND_COMMANDS(COMMANDS_NB, commands)
#define PERIODIC_SEND_ACTUATORS() DOWNLINK_SEND_ACTUATORS(SERVOS_NB, actuators)
#define PERIODIC_SEND_BAT() { int16_t dummy16=42; uint8_t dummy8=42; DOWNLINK_SEND_BAT(&commands[COMMAND_THROTTLE], &tl_bat_decivolt, &estimator_flight_time, &dummy8, &dummy16, &dummy16, &dummy16); }
#define PERIODIC_SEND_BAT() { int16_t dummy16=42; DOWNLINK_SEND_BAT(&commands[COMMAND_THROTTLE], &tl_bat_decivolt, &estimator_flight_time, &kill_throttle, &block_time, &stage_time, &dummy16); }
#define PERIODIC_SEND_ESTIMATOR() DOWNLINK_SEND_ESTIMATOR(&estimator_z, &estimator_climb)
#define PERIODIC_SEND_NAVIGATION_REF() DOWNLINK_SEND_NAVIGATION_REF(&nav_utm_east0, &nav_utm_north0, &nav_utm_zone0);
#define DownlinkSendWp(i) { \
float x = nav_utm_east0 + waypoints[i].x; \
float y = nav_utm_north0 + waypoints[i].y; \
DOWNLINK_SEND_WP_MOVED(&i, &x, &y, &(waypoints[i].a),&nav_utm_zone0); \
}
#define PERIODIC_SEND_WP_MOVED() { \
static uint8_t i; \
i++; if (i >= nb_waypoint) i = 0; \
DownlinkSendWp(i); \
}
#define SEND_NAVIGATION() { int16_t pos_x = estimator_x; int16_t pos_y = estimator_y; DOWNLINK_SEND_NAVIGATION(&nav_block, &nav_stage, &pos_x, &pos_y, &dist2_to_wp, &dist2_to_home);}
#define PERIODIC_SEND_NAVIGATION() SEND_NAVIGATION()