mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-07 00:53:41 +08:00
[conf] fixed dual board and classix airframe files to pass tests
* only one firmware element with the fixedwing firmware * proper escaping: replace <define name="ADC_6" value="\"AdcBank0(3)\""/> with <define name="ADC_6" value="AdcBank0\(3\)"/>
This commit is contained in:
Felix Ruess
@@ -227,56 +227,59 @@
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</modules>
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<firmware name="fixedwing">
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<target name="fbw" board="lisa_m_2.0">
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<configure name="SYS_TIME_LED" value="2" />
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<define name="RADIO_CONTROL_LED" value="4"/>
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<define name="LINK_MCU_LED" value="3" />
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<configure name="FLASH_MODE" value="JTAG" />
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<configure name="NO_LUFTBOOT" value="1" />
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<!-- <configure name="BMP_PORT" value="/dev/ttyACM0" /> -->
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<define name="OUTBACK_CHALLENGE_DANGEROUS_RULE_RC_LOST_NO_AP" value="1" />
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<define name="OUTBACK_CHALLENGE_VERY_DANGEROUS_RULE_AP_CAN_FORCE_FAILSAFE" value="1" />
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</target>
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<subsystem name="radio_control" type="ppm"/>
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<subsystem name="actuators" type="direct"/>
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<subsystem name="intermcu" type="uart">
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<configure name="INTERMCU_PORT_NR" value="2" />
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</subsystem>
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</firmware>
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<firmware name="fixedwing">
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<target name="ap" board="lisa_m_2.0">
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<define name="LISA_M_LONGITUDINAL_X"/>
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<!-- this define is not available in paparazzi v4.1 -->
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<!--define name="LISA_M_LONGITUDINAL_X"/-->
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<configure name="SEPARATE_FBW" value="1"/>
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<configure name="PERIODIC_FREQUENCY" value="120"/>
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<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
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<configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
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<define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
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<configure name="FLASH_MODE" value="JTAG" />
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<configure name="NO_LUFTBOOT" value="1" />
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<!-- <configure name="BMP_PORT" value="/dev/ttyACM0" /> -->
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<define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
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<configure name="AHRS_ALIGNER_LED" value="1"/>
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<configure name="CPU_LED" value="1"/>
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<define name="LINK_MCU_LED" value="4" />
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<define name="LINK_MCU_LED" value="4"/>
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<!-- split of ap/fbw specific subsystems for ap -->
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<subsystem name="actuators" type="dummy"/>
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<subsystem name="intermcu" type="uart">
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<configure name="INTERMCU_PORT_NR" value="5"/>
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</subsystem>
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<subsystem name="control"/>
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<subsystem name="navigation" type="extra"/>
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</target>
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<target name="fbw" board="lisa_m_2.0">
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<configure name="SYS_TIME_LED" value="2"/>
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<define name="RADIO_CONTROL_LED" value="4"/>
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<define name="LINK_MCU_LED" value="3"/>
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<define name="OUTBACK_CHALLENGE_DANGEROUS_RULE_RC_LOST_NO_AP" value="1"/>
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<define name="OUTBACK_CHALLENGE_VERY_DANGEROUS_RULE_AP_CAN_FORCE_FAILSAFE" value="1"/>
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<subsystem name="radio_control" type="ppm"/>
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<!-- split of ap/fbw specific subsystems for fbw -->
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<subsystem name="actuators" type="direct"/>
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<subsystem name="intermcu" type="uart">
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<configure name="INTERMCU_PORT_NR" value="2"/>
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</subsystem>
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</target>
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<target name="sim" board="pc">
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<subsystem name="radio_control" type="ppm"/>
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<subsystem name="control"/>
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<subsystem name="navigation" type="extra"/>
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</target>
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<configure name="FLASH_MODE" value="JTAG"/>
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<configure name="NO_LUFTBOOT" value="1"/>
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<define name="AGR_CLIMB"/>
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<define name="LOITER_TRIM"/>
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<define name="ALT_KALMAN"/>
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@@ -286,36 +289,21 @@
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<define name="WIND_INFO_RET"/>
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<define name="RADIO_CONTROL_AUTO1"/>
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<subsystem name="imu" type="aspirin_v2.1"/>
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<subsystem name="ahrs" type="float_dcm" />
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<!-- Communication -->
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<!-- <subsystem name="telemetry" type="xbee_api"> -->
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<subsystem name="telemetry" type="transparent">
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<configure name="MODEM_BAUD" value="B9600"/>
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<configure name="MODEM_PORT" value="UART2"/>
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</subsystem>
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<!-- Actuators -->
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<subsystem name="control"/>
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<!-- Sensors -->
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<subsystem name="navigation" type="extra"/>
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<subsystem name="imu" type="aspirin_v2.1"/>
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<subsystem name="gps" type="ublox">
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<configure name="GPS_PORT" value="UART1"/>
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</subsystem>
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<subsystem name="actuators" type="dummy"/>
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<subsystem name="ahrs" type="float_dcm"/>
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<subsystem name="ins" type="alt_float"/>
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<subsystem name="intermcu" type="uart">
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<configure name="INTERMCU_PORT_NR" value="5" />
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</subsystem>
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</firmware>
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<makefile>
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</makefile>
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</firmware>
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</airframe>
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@@ -159,7 +159,7 @@
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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<define name="CONTROL_RATE" value="60" unit="Hz"/>
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<define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
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@@ -178,7 +178,7 @@
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<firmware name="fixedwing">
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<target name="ap" board="classix">
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<configure name="SYS_TIME_LED" value="2" />
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<configure name="SYS_TIME_LED" value="2"/>
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<define name="USE_LED_6" value="1"/>
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<define name="LED_6_BANK" value="0"/>
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@@ -186,12 +186,27 @@
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<define name="USE_AD0"/>
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<define name="USE_AD0_3"/>
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<define name="ADC_6" value="\"AdcBank0(3)\""/>
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<define name="ADC_6" value="AdcBank0\(3\)"/>
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<subsystem name="control"/>
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<subsystem name="navigation" type="extra"/>
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</target>
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<target name="fbw" board="classix">
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<configure name="SYS_TIME_LED" value="2"/>
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<define name="RADIO_CONTROL_LED" value="1"/>
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<define name="USE_AD1_5" value="1"/>
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<define name="USE_AD1" value="1"/>
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<configure name="ACTUATORS" value="actuators_ppm"/>
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<define name="ADC_CHANNEL_VSUPPLY" value="AdcBank0\(6\)"/>
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<subsystem name="radio_control" type="ppm"/>
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</target>
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<target name="sim" board="pc">
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<subsystem name="radio_control" type="ppm"/>
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<subsystem name="control"/>
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<subsystem name="navigation" type="extra"/>
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</target>
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<define name="DC_IMAGE_BUFFER" value="65000" />
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@@ -206,29 +221,13 @@
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<configure name="MODEM_PORT" value="UART0"/>
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<configure name="MODEM_BAUD" value="B9600"/>
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</subsystem>
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<subsystem name="control"/>
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<subsystem name="navigation" type="extra"/>
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<subsystem name="ins" type="xsens">
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<configure name="XSENS_UART_NR" value="1"/>
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</subsystem>
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</firmware>
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<firmware name="fixedwing">
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<target name="fbw" board="classix">
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<configure name="SYS_TIME_LED" value="2" />
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<define name="RADIO_CONTROL_LED" value="1"/>
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<define name="USE_AD1_5" value="1"/>
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<define name="USE_AD1" value="1"/>
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<configure name="ACTUATORS" value="actuators_ppm"/>
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<define name="ADC_CHANNEL_VSUPPLY" value="AdcBank0\(6\)"/>
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</target>
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<subsystem name="radio_control" type="ppm"/>
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<subsystem name="ins" type="xsens"/>
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</firmware>
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<modules>
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<load name="digital_cam.xml">
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<define name="DC_SHUTTER_LED" value="6"/>
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+2
-2
@@ -193,13 +193,13 @@
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radio="radios/cockpitSX.xml"
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telemetry="telemetry/default_fixedwing_imu_9k6.xml"
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flight_plan="flight_plans/versatile.xml"
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settings=" settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/modules/photogrammetry_calculator.xml settings/modules/dc.xml settings/estimation/ins_neutrals.xml"
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settings=" settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/modules/photogrammetry_calculator.xml settings/modules/dc.xml"
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gui_color="blue"
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/>
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<aircraft
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name="tiny2_chimu_spi"
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ac_id="22"
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airframe="airframes/TUDelft/tiny2_chimu_spi_pt.xml"
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airframe="airframes/CDW/tiny2_chimu_spi_pt.xml"
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radio="radios/R6107SP_7ch.xml"
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telemetry="telemetry/default_fixedwing_imu_9k6.xml"
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flight_plan="flight_plans/versatile.xml"
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