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[nps simulator] created the target 'nps' for the nps simulator

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* currently only used for rotorcrafts
* created and imu_nps implementation instead of using the sim arch to implement simulation of every IMU separately
* updated makefiles and airframe files to new nps simulator
This commit is contained in:
Felix Ruess
2012-05-29 22:27:07 +02:00
parent fedf204245
commit e75a39881b
47 changed files with 561 additions and 306 deletions
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conf/airframes/examples/booz2.xml
+1 -3
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@@ -14,12 +14,10 @@
<axis name="THRUST" failsafe_value="0"/>
</commands>
<!-- not needed anymore - in subsystem -->
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
<define name="NB" value="4"/>
<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
</section>
<!-- -->
<section name="SUPERVISION" prefix="SUPERVISION_">
<define name="MIN_MOTOR" value="2"/>
@@ -196,7 +194,7 @@
<firmware name="rotorcraft">
<target name="ap" board="booz_1.0"/>
<target name="sim" board="pc">
<target name="nps" board="pc">
<subsystem name="fdm" type="nps"/>
</target>
<subsystem name="radio_control" type="ppm"/>
conf/airframes/examples/quadrotor_lisa_m_2_pwm.xml
+11 -1
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@@ -7,13 +7,17 @@
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0"/>
<target name="nps" board="pc">
<subsystem name="fdm" type="nps"/>
</target>
<subsystem name="actuators" type="pwm_supervision">
<define name="SERVO_HZ" value="400"/>
</subsystem>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="imu" type="aspirin_v2.0"/>
<subsystem name="imu" type="aspirin_v2.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
@@ -175,6 +179,12 @@
<define name="IGAIN" value="0"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
conf/airframes/examples/quadrotor_lisa_m_mkk.xml
+2 -2
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@@ -8,7 +8,7 @@
<target name="ap" board="lisa_m_1.0">
<define name="ACTUATORS_START_DELAY" value="3"/>
</target>
<target name="sim" board="pc">
<target name="nps" board="pc">
<subsystem name="fdm" type="nps"/>
</target>
@@ -172,7 +172,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_aspirin_1.5.h&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
</section>
<section name="AUTOPILOT">