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Merge remote-tracking branch 'paparazzi/dev' into abi

Browse Source 
Conflicts:
	Makefile
	conf/autopilot/setup.makefile
	sw/tools/Makefile
This commit is contained in:
Gautier Hattenberger
2011-08-17 16:14:04 +02:00
parent 739d56ca70 7db5de6516
commit e27b6fbc57
219 changed files with 5646 additions and 1734 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.gitignore
+3
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@@ -47,6 +47,8 @@
/conf/%gconf.xml
/conf/srtm_data/*
/conf/maps_data/*
/conf/maps.xml
/conf/gps/ublox_conf
# /doc/pprz_algebra/
/doc/pprz_algebra/headfile.log
@@ -99,6 +101,7 @@
/sw/logalizer/plotter
/sw/logalizer/gtk_export.ml
/sw/logalizer/sd2log
/sw/logalizer/plotprofile
# /sw/simulator/
/sw/simulator/gaia
Makefile
+31 -22
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@@ -52,12 +52,14 @@ STATICINCLUDE =$(PAPARAZZI_HOME)/var/include
MESSAGES_H=$(STATICINCLUDE)/messages.h
MESSAGES2_H=$(STATICINCLUDE)/messages2.h
UBX_PROTOCOL_H=$(STATICINCLUDE)/ubx_protocol.h
MTK_PROTOCOL_H=$(STATICINCLUDE)/mtk_protocol.h
XSENS_PROTOCOL_H=$(STATICINCLUDE)/xsens_protocol.h
DL_PROTOCOL_H=$(STATICINCLUDE)/dl_protocol.h
DL_PROTOCOL2_H=$(STATICINCLUDE)/dl_protocol2.h
ABI_MESSAGES_H=$(STATICINCLUDE)/abi_messages.h
MESSAGES_XML = $(CONF)/messages.xml
UBX_XML = $(CONF)/ubx.xml
MTK_XML = $(CONF)/mtk.xml
XSENS_XML = $(CONF)/xsens_MTi-G.xml
TOOLS=$(PAPARAZZI_SRC)/sw/tools
HAVE_ARM_NONE_EABI_GCC := $(shell which arm-none-eabi-gcc)
@@ -69,27 +71,29 @@ endif
OCAML=$(shell which ocaml)
OCAMLRUN=$(shell which ocamlrun)
all: commands static conf
all: conf commands static
static : lib center tools cockpit multimon tmtc misc logalizer lpc21iap sim_static static_h usb_lib
conf: conf/conf.xml conf/control_panel.xml conf/maps_data/maps.conf
conf: conf/conf.xml conf/control_panel.xml conf/maps.xml FORCE
conf/%.xml :conf/%.xml.example
[ -L $@ ] || [ -f $@ ] || cp $< $@
conf/maps_data/maps.conf:
cd data/maps; $(MAKE)
conf/maps.xml: conf/maps.xml.example FORCE
-cd data/maps; $(MAKE)
if test ! -e $@; then cp $< $@; fi
FORCE:
lib:
cd $(LIB)/ocaml; $(MAKE)
center: lib
cd sw/supervision; make
cd sw/supervision; $(MAKE)
tools: lib
cd $(TOOLS); make
cd $(TOOLS); $(MAKE)
logalizer: lib
cd $(LOGALIZER); $(MAKE)
@@ -109,7 +113,7 @@ misc:
multimon:
cd $(MULTIMON); $(MAKE)
static_h: $(MESSAGES_H) $(MESSAGES2_H) $(UBX_PROTOCOL_H) $(XSENS_PROTOCOL_H) $(DL_PROTOCOL_H) $(DL_PROTOCOL2_H) $(ABI_MESSAGES_H)
static_h: $(MESSAGES_H) $(MESSAGES2_H) $(UBX_PROTOCOL_H) $(MTK_PROTOCOL_H) $(XSENS_PROTOCOL_H) $(DL_PROTOCOL_H) $(DL_PROTOCOL2_H) $(ABI_MESSAGES_H)
usb_lib:
@[ -d sw/airborne/arch/lpc21/lpcusb ] && ((test -x "$(ARMGCC)" && (cd sw/airborne/arch/lpc21/lpcusb; $(MAKE))) || echo "Not building usb_lib: ARMGCC=$(ARMGCC) not found") || echo "Not building usb_lib: sw/airborne/arch/lpc21/lpcusb directory missing"
@@ -117,35 +121,40 @@ usb_lib:
$(MESSAGES_H) : $(MESSAGES_XML) $(CONF_XML) tools
$(Q)test -d $(STATICINCLUDE) || mkdir -p $(STATICINCLUDE)
@echo BUILD $@
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) $(TOOLS)/gen_messages.out $< telemetry > /tmp/msg.h
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_messages.out $< telemetry > /tmp/msg.h
$(Q)mv /tmp/msg.h $@
$(Q)chmod a+r $@
$(MESSAGES2_H) : $(MESSAGES_XML) $(CONF_XML) tools
$(Q)test -d $(STATICINCLUDE) || mkdir -p $(STATICINCLUDE)
@echo BUILD $@
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) $(TOOLS)/gen_messages2.out $< telemetry > /tmp/msg2.h
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_messages2.out $< telemetry > /tmp/msg2.h
$(Q)mv /tmp/msg2.h $@
$(Q)chmod a+r $@
$(UBX_PROTOCOL_H) : $(UBX_XML) tools
@echo BUILD $@
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) $(TOOLS)/gen_ubx.out $< > /tmp/ubx.h
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_ubx.out $< > /tmp/ubx.h
$(Q)mv /tmp/ubx.h $@
$(MTK_PROTOCOL_H) : $(MTK_XML) tools
@echo BUILD $@
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_mtk.out $< > /tmp/mtk.h
$(Q)mv /tmp/mtk.h $@
$(XSENS_PROTOCOL_H) : $(XSENS_XML) tools
@echo BUILD $@
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) $(TOOLS)/gen_xsens.out $< > /tmp/xsens.h
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_xsens.out $< > /tmp/xsens.h
$(Q)mv /tmp/xsens.h $@
$(DL_PROTOCOL_H) : $(MESSAGES_XML) tools
@echo BUILD $@
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) $(TOOLS)/gen_messages.out $< datalink > /tmp/dl.h
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_messages.out $< datalink > /tmp/dl.h
$(Q)mv /tmp/dl.h $@
$(DL_PROTOCOL2_H) : $(MESSAGES_XML) tools
@echo BUILD $@
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) $(TOOLS)/gen_messages2.out $< datalink > /tmp/dl2.h
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_messages2.out $< datalink > /tmp/dl2.h
$(Q)mv /tmp/dl2.h $@
$(ABI_MESSAGES_H) : $(MESSAGES_XML) tools
@@ -165,7 +174,7 @@ ac_h ac1 ac2 ac3 ac fbw ap: static conf
#
# call with : make bl PROC=[TINY|FBW|AP|GENERIC]
bl:
cd $(AIRBORNE)/arch/lpc21/test/bootloader; make clean; make
cd $(AIRBORNE)/arch/lpc21/test/bootloader; $(MAKE) clean; $(MAKE)
BOOTLOADER_DEV=/dev/ttyUSB0
upload_bl bl.upload: bl
@@ -180,15 +189,15 @@ upload_jtag: bl
lpc21iap:
cd sw/ground_segment/lpc21iap; make
cd sw/ground_segment/lpc21iap; $(MAKE)
upgrade_bl bl.upgrade: bl lpc21iap
$(PAPARAZZI_SRC)/sw/ground_segment/lpc21iap/lpc21iap $(AIRBORNE)/arch/lpc21/test/bootloader/bl_ram.elf
$(PAPARAZZI_SRC)/sw/ground_segment/lpc21iap/lpc21iap $(AIRBORNE)/arch/lpc21/test/bootloader/bl.elf
ms:
cd $(AIRBORNE)/arch/lpc21/lpcusb; make
cd $(AIRBORNE)/arch/lpc21/lpcusb/examples; make
cd $(AIRBORNE)/arch/lpc21/lpcusb; $(MAKE)
cd $(AIRBORNE)/arch/lpc21/lpcusb/examples; $(MAKE)
upload_ms ms.upload: ms
$(PAPARAZZI_SRC)/sw/ground_segment/lpc21iap/lpc21iap $(AIRBORNE)/arch/lpc21/lpcusb/examples/msc.elf
@@ -204,10 +213,10 @@ run_sitl :
$(PAPARAZZI_HOME)/var/$(AIRCRAFT)/sim/simsitl
install :
make -f Makefile.install PREFIX=$(PREFIX)
$(MAKE) -f Makefile.install PREFIX=$(PREFIX)
uninstall :
make -f Makefile.install PREFIX=$(PREFIX) uninstall
$(MAKE) -f Makefile.install PREFIX=$(PREFIX) uninstall
DISTRO=lenny
deb :
@@ -217,11 +226,11 @@ deb :
dpkg-buildpackage $(DEBFLAGS) -Ivar -rfakeroot
fast_deb:
make deb OCAMLC=ocamlc.opt DEBFLAGS=-b
$(MAKE) deb OCAMLC=ocamlc.opt DEBFLAGS=-b
clean:
rm -fr dox build-stamp configure-stamp conf/%gconf.xml debian/files debian/paparazzi-arm7 debian/paparazzi-avr debian/paparazzi-base debian/paparazzi-bin debian/paparazzi-dev
rm -f $(MESSAGES_H) $(MESSAGES2_H) $(UBX_PROTOCOL_H) $(DL_PROTOCOL_H)
rm -f $(MESSAGES_H) $(MESSAGES2_H) $(UBX_PROTOCOL_H) $(MTK_PROTOCOL_H) $(DL_PROTOCOL_H)
find . -mindepth 2 -name Makefile -exec sh -c '$(MAKE) -C `dirname {}` $@' \;
find . -name '*~' -exec rm -f {} \;
rm -f paparazzi sw/simulator/launchsitl
@@ -236,7 +245,7 @@ cleanspaces:
distclean : dist_clean
dist_clean : clean
rm -r conf/srtm_data
rm -r conf/maps_data
rm -r conf/maps_data conf/maps.xml
ab_clean:
find sw/airborne -name '*~' -exec rm -f {} \;
Makefile.install
+1
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@@ -134,6 +134,7 @@ install_tools:
$(INSTALLDATA) sw/tools/gen_settings.ml $(DESTDIR)/sw/tools/
$(INSTALLDATA) sw/tools/gen_tuning.ml $(DESTDIR)/sw/tools/
$(INSTALLDATA) sw/tools/gen_ubx.ml $(DESTDIR)/sw/tools/
$(INSTALLDATA) sw/tools/gen_mtk.ml $(DESTDIR)/sw/tools/
$(INSTALLDATA) sw/tools/gen_xsens.ml $(DESTDIR)/sw/tools/
$(INSTALLDATA) sw/tools/gen_modules.ml $(DESTDIR)/sw/tools/
$(INSTALLDATA) sw/tools/gen_common.cmo $(DESTDIR)/sw/tools/
conf/Makefile.lpc21
+24 -3
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@@ -34,7 +34,6 @@ SRC_ARCH = arch/lpc21
# Define programs and commands.
HAVE_ARM_NONE_EABI_GCC := $(shell which arm-none-eabi-gcc)
ifeq ($(strip $(HAVE_ARM_NONE_EABI_GCC)),)
$(info Using gcc-arm 3.4.4 packaged by paparazzi.)
CC = arm-elf-gcc
LD = $(CC)
SHELL = sh
@@ -43,7 +42,6 @@ OBJDUMP = arm-elf-objdump
SIZE = arm-elf-size
NM = arm-elf-nm
else
$(info Using arm-none-eabi-gcc.)
CC = arm-none-eabi-gcc
LD = $(CC)
SHELL = sh
@@ -55,6 +53,8 @@ endif
REMOVE = rm -f
COPY = cp
MULTILIB = $(shell if $(CC) --print-multi-lib | grep thumb2 > /dev/null ; then echo "yes"; else echo "no"; fi)
# Launch with "make Q=''" to get full command display
Q=@
@@ -179,7 +179,28 @@ ALL_ASFLAGS = -mcpu=$(MCU) $(THUMB_IW) -I. -x assembler-with-cpp $(ASFLAGS)
# Default target.
all: sizebefore build sizeafter
all: printcommands printmultilib sizebefore build sizeafter
printcommands:
@echo "Using CC = $(CC)"
@echo "Using LD = $(LD)"
@echo "Using CP = $(OBJCOPY)"
@echo "Using DMP = $(OBJDUMP)"
@echo "Using NM = $(NM)"
@echo "Using SIZE = $(SIZE)"
@echo "Using OOCD = $(OOCD)"
@echo "GCC version:"
@$(CC) --version | head -1
ifeq ("$(MULTILIB)","yes")
printmultilib:
@echo "*** Using multilib ***"
@echo "--------------------------"
else
printmultilib:
@echo "*** NOT using multilib ***"
@echo "--------------------------"
endif
build: elf hex lss sym
conf/airframes/CDW/ChimuLisaFw.xml
+1 -1
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@@ -196,7 +196,7 @@
<subsystem name="control"/>
<!-- Sensors
<subsystem name="gyro" type="roll"/> -->
<subsystem name="gps" type="ublox_lea4p"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/>
</firmware>
conf/airframes/CDW/ChimuTinyFw.xml
+2 -2
View File
@@ -176,7 +176,7 @@
<target name="sim" board="pc"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="gps" type="ublox_lea5h" >
<subsystem name="gps" type="ublox" >
<configure name="GPS_PORT" value="gps_i2c" />
</subsystem>
@@ -189,7 +189,7 @@
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="navigation"/>
<!-- <subsystem name="gps" type="ublox_lea5h"/> -->
<!-- <subsystem name="gps" type="ublox"/> -->
<!--<subsystem name="i2c"/>-->
conf/airframes/CDW/ChimuTinyFwSpi.xml
+2 -2
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@@ -175,7 +175,7 @@
<target name="sim" board="pc"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="gps" type="ublox_lea5h" />
<subsystem name="gps" type="ublox" />
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api">
@@ -186,7 +186,7 @@
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="navigation"/>
<!-- <subsystem name="gps" type="ublox_lea5h"/> -->
<!-- <subsystem name="gps" type="ublox"/> -->
<subsystem name="spi_slave_hs"/>
conf/airframes/CDW/LisaFw.xml
+1 -1
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@@ -200,7 +200,7 @@
<configure name="ADC_IR_NB_SAMPLES" value="16"/>
</subsystem>-->
<subsystem name="gps" type="ublox_lea4p">
<subsystem name="gps" type="ublox_utm">
<configure name="GPS_PORT" value="UART1"/>
</subsystem>
conf/airframes/CDW/TinyFw.xml
+1 -1
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@@ -187,7 +187,7 @@
<!-- Sensors -->
<subsystem name="gyro" type="roll"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea4p"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/>
</firmware>
conf/airframes/ENAC/fixed-wing/funjet2.xml
+1 -1
View File
@@ -49,7 +49,7 @@
<!-- Actuators are automatically chosen according to board-->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="gyro" type="roll">
<configure name="ADC_GYRO_ROLL" value="ADC_5"/>
</subsystem>
conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
+1 -1
View File
@@ -47,7 +47,7 @@
<!-- Actuators are automatically chosen according to board-->
<subsystem name="control" type="new"/>
<!-- Sensors -->
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="gyro" type="roll">
<configure name="ADC_GYRO_ROLL" value="ADC_5"/>
</subsystem>
conf/airframes/ENAC/fixed-wing/funjet2_new.xml
+1 -1
View File
@@ -47,7 +47,7 @@
<!-- Actuators are automatically chosen according to board-->
<subsystem name="control" type="new"/>
<!-- Sensors -->
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="gyro" type="roll">
<configure name="ADC_GYRO_ROLL" value="ADC_5"/>
</subsystem>
conf/airframes/ENAC/fixed-wing/funjet3.xml
+1 -1
View File
@@ -49,7 +49,7 @@
<subsystem name="control" type="new"/>
<subsystem name="navigation"/>
<!-- Sensors -->
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="gps" type="ublox"/>
</firmware>
conf/airframes/ENAC/fixed-wing/merlin.xml
+1 -1
View File
@@ -20,7 +20,7 @@
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<!--subsystem name="attitude" type="infrared"/-->
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
</firmware>
conf/airframes/ENAC/fixed-wing/minimag1.xml
+1 -1
View File
@@ -26,7 +26,7 @@
<subsystem name="navigation" />
<!-- <subsystem name="attitude" type="infrared"/>-->
<subsystem name="control"/>
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="gps" type="ublox"/>
</firmware>
<firmware name="setup">
conf/airframes/ENAC/fixed-wing/overview.xml
+188
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@@ -0,0 +1,188 @@
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
<!-- Twinstar II, 2x Jeti 18 advance plus, AXI 2212/26
Tiny 2.11
ArduIMU
XBee modem with API Mode
LEA 5H GPS
-->
<airframe name="Twinstar">
<modules>
<load name="ins_arduimu_basic.xml">
<define name="USE_HIGH_ACCEL_FLAG"/>
</load>
<load name="cam_point.xml">
<define name="POINT_CAM_ROLL"/>
</load>
<!--load name="cam_segment.xml"/-->
</modules>
<firmware name="fixedwing">
<target name="ap" board="tiny_2.11"/>
<target name="sim" board="pc"/>
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<define name="AGR_CLIMB"/>
<define name="USE_I2C0"/>
<subsystem name="i2c"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="control"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
</firmware>
<firmware name="setup">
<target name="tunnel" board="tiny_2.11"/>
<target name="setup_actuators" board="tiny_2.11"/>
</firmware>
<!-- commands section -->
<servos>
<servo name="MOTOR" no="2" min="1000" neutral="1000" max="2000"/>
<servo name="AILERON_RIGHT" no="7" min="1000" neutral="1500" max="2000"/>
<servo name="AILERON_LEFT" no="6" min="1000" neutral="1500" max="2000"/>
<servo name="ELEVATOR" no="3" min="2000" neutral="1500" max="1000"/>
<servo name="RUDDER" no="4" min="1000" neutral="1500" max="2000"/>
<servo name="CAM_TILT" no="1" min="1000" neutral="1500" max="2000"/>
</servos>
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="CAM_TILT" failsafe_value="0"/>
</commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="YAW" value="@YAW"/>
<set command="CAM_TILT" value="@GAIN1"/>
</rc_commands>
<section name="MIXER">
<define name="AILERON_DIFF" value="0.8"/>
</section>
<command_laws>
<set servo="MOTOR" value="@THROTTLE"/>
<set servo="ELEVATOR" value="@PITCH"/>
<let var="roll" value="@ROLL"/>
<set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
<set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
<set servo="RUDDER" value="@YAW"/>
<set servo="CAM_TILT" value="@CAM_TILT"/>
</command_laws>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.85"/>
<define name="MAX_PITCH" value="0.6"/>
</section>
<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="rad"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0." unit="rad"/>
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="CAM" prefix="CAM_">
<define name="TILT_MAX" value="45" unit="deg"/>
<define name="TILT_NEUTRAL" value="0" unit="deg"/>
<define name="TILT_MIN" value="-45" unit="deg"/>
<define name="TILT0" value="0" unit="deg"/>
</section>
<section name="MISC">
<define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
<define name="MAXIMUM_AIRSPEED" value="18." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/>
<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
<define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.023"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.06"/>
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
<define name="THROTTLE_SLEW" value="0.1"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.0"/>
<define name="ROLL_MAX_SETPOINT" value="0.60" unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
<define name="ROLL_ATTITUDE_GAIN" value="-9000."/>
<define name="ROLL_RATE_GAIN" value="-3000."/>
<define name="PITCH_PGAIN" value="-9000."/>
<define name="PITCH_DGAIN" value="0.4"/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="ELEVATOR_OF_ROLL" value="1500"/>
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
<define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive Decent -->
<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
<define name="DESCENT_NAV_RATIO" value="1.0"/>
</section>
<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
<define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
</airframe>
conf/airframes/ENAC/fixed-wing/spocIII-1.xml
+1 -1
View File
@@ -34,7 +34,7 @@
<!-- Actuators are automatically chosen according to board-->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="gps" type="ublox"/>
<!--subsystem name="current_sensor">
<configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
conf/airframes/ENAC/fixed-wing/spocIII-2.xml
+1 -1
View File
@@ -42,7 +42,7 @@
<subsystem name="radio_control" type="datalink"/>
<!-- Sensors -->
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="gps" type="ublox"/>
<!--subsystem name="current_sensor">
<configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
conf/airframes/ENAC/fixed-wing/spocIII-3.xml
+1 -1
View File
@@ -43,7 +43,7 @@
<subsystem name="radio_control" type="datalink"/>
<!-- Sensors -->
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="current_sensor">
<configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
conf/airframes/ENAC/fixed-wing/twinjet2.xml
+1 -1
View File
@@ -34,7 +34,7 @@
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="control" type="new"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
<subsystem name="i2c"/>
</firmware>
conf/airframes/LAAS/mmlaas_N1.xml
+1 -1
View File
@@ -28,7 +28,7 @@
<configure name="ADC_IR2" value="ADC_0"/>
<configure name="ADC_IR_TOP" value="ADC_2"/>
</subsystem>
<subsystem name="gps" type="ublox_lea4p"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/>
</firmware>
conf/airframes/LAAS/mmlaas_N2.xml
+1 -1
View File
@@ -28,7 +28,7 @@
<configure name="ADC_IR2" value="ADC_1"/>
<configure name="ADC_IR_TOP" value="ADC_2"/>
</subsystem>
<subsystem name="gps" type="ublox_lea4p"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/>
</firmware>
conf/airframes/LAAS/mmlaas_N3.xml
+1 -1
View File
@@ -28,7 +28,7 @@
<configure name="ADC_IR2" value="ADC_1"/>
<configure name="ADC_IR_TOP" value="ADC_2"/>
</subsystem>
<subsystem name="gps" type="ublox_lea4p"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/>
</firmware>
conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
+1 -1
View File
@@ -260,7 +260,7 @@
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="navigation"/>
<subsystem name="gps" type="ublox_lea4p"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="i2c"/>
conf/airframes/Poine/funjet42.xml
+1 -1
View File
@@ -16,7 +16,7 @@
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
</firmware>
conf/airframes/Poine/swift_1.xml
+1 -1
View File
@@ -16,7 +16,7 @@
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
</firmware>
conf/airframes/TU_Delft/MicrojetBR.xml
+1 -1
View File
@@ -261,7 +261,7 @@
<configure name="ADC_GYRO_ROLL" value="ADC_3" />
</subsystem>
--> <subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea4p"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="control" />
<subsystem name="navigation" type="extra"/>
conf/airframes/TU_Delft/MicrojetBRimu.xml
+1 -1
View File
@@ -298,7 +298,7 @@
<subsystem name="ahrs" type="dcm"/>
<subsystem name="i2c"/>
<subsystem name="gps" type="ublox_lea4p"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="control" />
<subsystem name="navigation" />
conf/airframes/TU_Delft/MicrojetCDW.xml
+1 -1
View File
@@ -215,7 +215,7 @@
<!-- Sensors -->
<subsystem name="imu" type="booz"/>
<subsystem name="ahrs" type="dcm"/>
<subsystem name="gps" type="ublox_lea4p"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/>
</firmware>
conf/airframes/delta_wing_minimal_example.xml
+1 -1
View File
@@ -18,7 +18,7 @@
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
</firmware>
conf/airframes/easy_glider_example.xml
+1 -1
View File
@@ -169,7 +169,7 @@
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea4p"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/>
</firmware>
conf/airframes/easystar_ets_example.xml
+1 -1
View File
@@ -25,7 +25,7 @@
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation" type="extra"/>
<subsystem name="i2c"/>
</firmware>
conf/airframes/easystar_example.xml
+1 -1
View File
@@ -24,7 +24,7 @@
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
</firmware>
conf/airframes/example_twog_analogimu.xml
+1 -1
View File
@@ -213,7 +213,7 @@
</subsystem>
<subsystem name="ahrs" type="dcm"/>
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
</firmware>
conf/airframes/flixr_discovery.xml
+1 -1
View File
@@ -42,7 +42,7 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
<!-- Sensors -->
<subsystem name="imu" type="booz"/>
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="current_sensor">
<configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
</subsystem>
conf/airframes/funjet_cam_example.xml
+5 -2
View File
@@ -28,9 +28,9 @@
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
<subsystem name="navigation" type="extra"/>
</firmware>
@@ -44,6 +44,9 @@
<define name="POINT_CAM_YAW_PITCH" value="1"/>
<define name="SHOW_CAM_COORDINATES" value="1"/>
</load>
<load name="digital_cam.xml">
<define name="DC_SHUTTER_LED" value="3"/>
</load>
<load name="sys_mon.xml"/>
</modules>
conf/airframes/funjet_example.xml
+1 -1
View File
@@ -28,7 +28,7 @@
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
</firmware>
conf/airframes/jsbsim.xml
+1 -1
View File
@@ -217,7 +217,7 @@
<!-- Sensors -->
<subsystem name="gyro" type="roll"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea4p"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/>
</firmware>
conf/airframes/mentor_tum.xml
+1 -1
View File
@@ -24,7 +24,7 @@
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation" type="extra"/>
</firmware>
conf/airframes/microjet_example.xml
+2 -1
View File
@@ -8,6 +8,7 @@
<airframe name="Microjet Tiny 1.1">
<servos>
<servo name="MOTOR" no="0" min="1290" neutral="1290" max="1810"/>
<servo name="AILEVON_LEFT" no="1" min="2000" neutral="1510" max="1000"/>
@@ -187,7 +188,7 @@
<!-- Sensors -->
<subsystem name="gyro" type="roll"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea4p"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/>
</firmware>
conf/airframes/mm/extra/probe_t.xml
+1 -1
View File
@@ -17,7 +17,7 @@
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
</firmware>
conf/airframes/mm/extra/turbine_trigger.xml
+1 -1
View File
@@ -10,7 +10,7 @@
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
</firmware>
conf/airframes/mm/fixed-wing/drops.xml
+1 -1
View File
@@ -23,7 +23,7 @@
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="control_adaptive"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
<subsystem name="navigation_bomb"/>
conf/airframes/mm/fixed-wing/funjet43.xml
+1 -1
View File
@@ -21,7 +21,7 @@
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<!--subsystem name="attitude" type="infrared"/-->
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
<!-- Interfaces -->
<subsystem name="i2c"/>
conf/airframes/mm/fixed-wing/funjetdca.xml
+1 -1
View File
@@ -34,7 +34,7 @@
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="gps" type="ublox"/>
<!-- Nav -->
<subsystem name="navigation"/>
<!-- Interfaces -->
conf/airframes/mm/fixed-wing/funjetdcb.xml
+1 -1
View File
@@ -34,7 +34,7 @@
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="gps" type="ublox"/>
<!-- Nav -->
<subsystem name="navigation"/>
<!-- Interfaces -->
conf/airframes/mm/fixed-wing/funjetdcc.xml
+1 -1
View File
@@ -34,7 +34,7 @@
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea4p"/>
<subsystem name="gps" type="ublox_utm"/>
<!-- Nav -->
<subsystem name="navigation"/>
<!-- Interfaces -->
conf/airframes/mm/fixed-wing/funjetgfi8.xml
+1 -1
View File
@@ -29,7 +29,7 @@
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="gps" type="ublox"/>
<!-- Nav -->
<subsystem name="navigation"/>
<!-- Interfaces -->
conf/airframes/mm/fixed-wing/funjetlisa.xml
+1 -1
View File
@@ -17,7 +17,7 @@
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea5h">
<subsystem name="gps" type="ublox">
<configure name="GPS_PORT" value="UART3"/>
</subsystem>
<subsystem name="navigation"/>
conf/airframes/mm/fixed-wing/funjetlisam.xml
+1 -1
View File
@@ -17,7 +17,7 @@
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea5h">
<subsystem name="gps" type="ublox">
<configure name="GPS_PORT" value="UART3"/>
</subsystem>
<subsystem name="navigation"/>

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