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Merge some fixes from branch 'v3.9'

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* fix sending of I2C errors via telemetry
    * we can't pass the address of a volatile var to the downlink macros:
      it will be cast to (const uint8_t*) and read byte by byte and hence not work properly if it is volatile
    * you will also rightly get a warning "cast discards qualifiers from pointer target type"
    * so we need to copy it to a non-volatile var before sending
* make it possible to configure lisa/m 1.0 to use luftboot and also print a message if luftboot is assumed to be installed when flashing
* fix spi for navgo board
* updates for ENAC blender quadrotor
* fixed/updated some ctl_ settings files
* fix asctec v1 driver for new command scale
This commit is contained in:
Felix Ruess
2012-05-15 22:35:27 +02:00
parent 5a2b078dc5 66eaf63d81
commit ee727383c4
10 changed files with 187 additions and 154 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/Makefile.stm32
+8 -2
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@@ -100,10 +100,16 @@ else
OOCD_BOARD = $($(TARGET).OOCD_BOARD) OOCD_BOARD = $($(TARGET).OOCD_BOARD)
endif endif
ifndef NO_LUFTBOOT # default: assume the luftboot bootloader is used
# if luftboot is not used define NO_LUFTBOOT to a value != 0
OOCD_START_SECTOR = 4 OOCD_START_SECTOR = 4
else ASSUMING_LUFTBOOT = "yes"
ifdef NO_LUFTBOOT
$(shell echo luftboot: $(NO_LUFTBOOT))
ifneq ($(NO_LUFTBOOT),0)
OOCD_START_SECTOR = 0 OOCD_START_SECTOR = 0
ASSUMING_LUFTBOOT = "no"
endif
endif endif
# input files # input files
conf/airframes/ENAC/quadrotor/blender.xml
+67 -79
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@@ -3,17 +3,16 @@
<modules main_freq="512"> <modules main_freq="512">
<!--load name="booz_pwm.xml"> <!--load name="booz_pwm.xml">
<define name="USE_PWM1"/> <define name="USE_PWM1"/>
</load> </load-->
<load name="booz_drop.xml"/> <!--load name="booz_drop.xml"/>
<load name="booz_cam.xml"/--> <load name="booz_cam.xml"/-->
<!--load name="sonar_maxbotix_booz.xml"/-->
</modules> </modules>
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<define name="USE_INS_NAV_INIT"/> <define name="USE_INS_NAV_INIT"/>
<!--define name="GUIDANCE_H_USE_REF"/--> <!--define name="GUIDANCE_H_USE_REF"/-->
<target name="ap" board="booz_1.0"> <target name="ap" board="navgo_1.0">
<define name="FAILSAFE_GROUND_DETECT"/> <define name="FAILSAFE_GROUND_DETECT"/>
<define name="USE_GPS_ACC4R"/> <define name="USE_GPS_ACC4R"/>
<define name="ACTUATORS_START_DELAY" value="3"/> <define name="ACTUATORS_START_DELAY" value="3"/>
@@ -27,29 +26,20 @@
<subsystem name="actuators" type="skiron"> <subsystem name="actuators" type="skiron">
<define name="SKIRON_I2C_SCL_TIME" value="25"/> <define name="SKIRON_I2C_SCL_TIME" value="25"/>
</subsystem> </subsystem>
<subsystem name="imu" type="b2_v1.1"/> <subsystem name="imu" type="navgo"/>
<subsystem name="gps" type="ublox"> <subsystem name="gps" type="ublox">
<configure name="GPS_BAUD" value="B57600"/> <configure name="GPS_BAUD" value="B57600"/>
</subsystem> </subsystem>
<subsystem name="stabilization" type="euler"/> <subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"> <subsystem name="ahrs" type="int_cmpl_euler"/>
<define name="USE_NOISE_FILTER"/>
</subsystem>
<subsystem name="ins" type="hff"/> <subsystem name="ins" type="hff"/>
</firmware> </firmware>
<firmware name="booz_test_progs">
<target name="test_telemetry" board="booz_1.0"/>
<target name="test_baro" board="booz_1.0"/>
<target name="test_rc_spektrum" board="booz_1.0"/>
<target name="test_rc_ppm" board="booz_1.0"/>
</firmware>
<servos min="0" neutral="0" max="0xff"> <servos min="0" neutral="0" max="0xff">
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/> <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="2" min="0" neutral="0" max="255"/> <servo name="BACK" no="2" min="0" neutral="0" max="255"/>
<servo name="RIGHT" no="1" min="0" neutral="0" max="255"/> <servo name="RIGHT" no="1" min="0" neutral="0" max="255"/>
<servo name="LEFT" no="3" min="0" neutral="0" max="255"/> <servo name="LEFT" no="3" min="0" neutral="0" max="255"/>
</servos> </servos>
<commands> <commands>
@@ -67,8 +57,8 @@
<section name="SUPERVISION" prefix="SUPERVISION_"> <section name="SUPERVISION" prefix="SUPERVISION_">
<define name="MIN_MOTOR" value="20"/> <define name="MIN_MOTOR" value="20"/>
<define name="MAX_MOTOR" value="255"/> <define name="MAX_MOTOR" value="255"/>
<define name="TRIM_A" value="6"/> <define name="TRIM_A" value="-3"/>
<define name="TRIM_E" value="0"/> <define name="TRIM_E" value="-3"/>
<define name="TRIM_R" value="0"/> <define name="TRIM_R" value="0"/>
<define name="NB_MOTOR" value="4"/> <define name="NB_MOTOR" value="4"/>
<define name="SCALE" value="256"/> <define name="SCALE" value="256"/>
@@ -80,49 +70,54 @@
<section name="IMU" prefix="IMU_"> <section name="IMU" prefix="IMU_">
<define name="GYRO_P_CHAN" value="1"/> <define name="GYRO_P_NEUTRAL" value="10"/>
<define name="GYRO_Q_CHAN" value="0"/> <define name="GYRO_Q_NEUTRAL" value="-32"/>
<define name="GYRO_R_CHAN" value="2"/> <define name="GYRO_R_NEUTRAL" value="11"/>
<define name="GYRO_P_NEUTRAL" value="33100"/> <!-- SENS ITG3200 1/14.375 (deg/s)/LSB, rate frac 12bit => 1/14.375 * pi / 180 * 2^12 -->
<define name="GYRO_Q_NEUTRAL" value="32440"/> <define name="GYRO_P_SENS" value="4.97312" integer="16"/>
<define name="GYRO_R_NEUTRAL" value="33033"/> <define name="GYRO_Q_SENS" value="4.97312" integer="16"/>
<define name="GYRO_R_SENS" value="4.97312" integer="16"/>
<define name="GYRO_P_SENS" value="1.00" integer="16"/> <define name="ACCEL_X_NEUTRAL" value="9"/>
<define name="GYRO_Q_SENS" value="1.00" integer="16"/> <define name="ACCEL_Y_NEUTRAL" value="14"/>
<define name="GYRO_R_SENS" value="1.00" integer="16"/> <define name="ACCEL_Z_NEUTRAL" value="-16"/>
<define name="ACCEL_X_CHAN" value="5"/> <!-- SENS ADXL345 16G 31.2 mg/LSB, accel frac 10bit => 31.2 * 2^10 / 1000 = 31.9488-->
<define name="ACCEL_Y_CHAN" value="3"/> <define name="ACCEL_X_SENS" value="38.5866088465" integer="16"/>
<define name="ACCEL_Z_CHAN" value="4"/> <define name="ACCEL_Y_SENS" value="38.7212932023" integer="16"/>
<define name="ACCEL_Z_SENS" value="39.403098907" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="32932"/> <define name="MAG_X_NEUTRAL" value="80"/>
<define name="ACCEL_Y_NEUTRAL" value="32251"/> <define name="MAG_Y_NEUTRAL" value="-271"/>
<define name="ACCEL_Z_NEUTRAL" value="32463"/> <define name="MAG_Z_NEUTRAL" value="112"/>
<define name="ACCEL_X_SENS" value="2.59502439625" integer="16"/> <define name="MAG_X_SENS" value="4.44131219218" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.57636806334" integer="16"/> <define name="MAG_Y_SENS" value="4.56234629213" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.59680479039" integer="16"/> <define name="MAG_Z_SENS" value="5.298653926" integer="16"/>
<define name="MAG_X_CHAN" value="0"/>
<define name="MAG_Y_CHAN" value="1"/>
<define name="MAG_Z_CHAN" value="2"/>
<define name="MAG_X_NEUTRAL" value="-75"/>
<define name="MAG_Y_NEUTRAL" value="17"/>
<define name="MAG_Z_NEUTRAL" value="7"/>
<define name="MAG_X_SENS" value="5.50726991669" integer="16"/>
<define name="MAG_Y_SENS" value="5.43740121157" integer="16"/>
<define name="MAG_Z_SENS" value="2.60492836649" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/> <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/> <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<!--define name="BODY_TO_IMU_PSI" value="45." unit="deg"/-->
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/> <define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
</section> </section>
<!-- Magnetic field for Toulouse (declination -16°) -->
<section name="AHRS" prefix="AHRS_">
<define name="MAG_UPDATE_YAW_ONLY" value="1"/>
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="H_X" value=" 0.513081"/>
<define name="H_Y" value="-0.00242783"/>
<define name="H_Z" value=" 0.858336"/>
</section>
<section name="INS" prefix="INS_">
<!-- datasheet 1.4 mm/LSB : 0.0014*2^8 = 0.3584 -->
<!-- calibration SENS = 1.156 :( -->
<define name="BARO_SENS" value="1.156" integer="16"/>
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_"> <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/> <define name="SP_MAX_P" value="10000"/>
@@ -160,30 +155,25 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/> <define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback --> <!-- feedback -->
<define name="PHI_PGAIN" value="400"/> <define name="PHI_PGAIN" value="450"/>
<define name="PHI_DGAIN" value="160"/> <define name="PHI_DGAIN" value="190"/>
<define name="PHI_IGAIN" value="40"/> <define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="400"/> <define name="THETA_PGAIN" value="450"/>
<define name="THETA_DGAIN" value="160"/> <define name="THETA_DGAIN" value="190"/>
<define name="THETA_IGAIN" value="40"/> <define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="1000"/> <define name="PSI_PGAIN" value="700"/>
<define name="PSI_DGAIN" value="350"/> <define name="PSI_DGAIN" value="250"/>
<define name="PSI_IGAIN" value="10"/> <define name="PSI_IGAIN" value="20"/>
<!-- feedforward --> <!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/> <define name="PHI_DDGAIN" value=" 100"/>
<define name="THETA_DDGAIN" value=" 300"/> <define name="THETA_DDGAIN" value=" 100"/>
<define name="PSI_DDGAIN" value=" 300"/> <define name="PSI_DDGAIN" value=" 100"/>
</section> </section>
<section name="INS" prefix="INS_">
<define name="BARO_SENS" value="16.5" integer="16"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_"> <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/> <define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
@@ -195,8 +185,8 @@
<define name="REF_MAX_ZDD" value=" 0.8*9.81"/> <define name="REF_MAX_ZDD" value=" 0.8*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/> <define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1.5"/> <define name="REF_MAX_ZD" value=" 1.5"/>
<define name="HOVER_KP" value="400"/> <define name="HOVER_KP" value="300"/>
<define name="HOVER_KD" value="200"/> <define name="HOVER_KD" value="160"/>
<define name="HOVER_KI" value="0"/> <define name="HOVER_KI" value="0"/>
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) --> <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/> <define name="RC_CLIMB_COEF" value ="163"/>
@@ -215,13 +205,13 @@
<section name="BAT"> <section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/> <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="VoltageOfAdc(adc)" value="(0.025*adc)"/>
</section> </section>
<section name="AUTOPILOT"> <section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/> <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/> <define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/> <define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<!--define name="MODE_AUTO2" value="AP_MODE_NAV"/-->
</section> </section>
<section name="FMS"> <section name="FMS">
@@ -238,16 +228,14 @@
<define name="PAN_MIN" value="0"/> <define name="PAN_MIN" value="0"/>
<define name="PAN_MAX" value="25736"/> <!-- 360 deg (2^12) --> <define name="PAN_MAX" value="25736"/> <!-- 360 deg (2^12) -->
<define name="DEFAULT_MODE" value="BOOZ_CAM_MODE_MANUAL"/> <define name="DEFAULT_MODE" value="BOOZ_CAM_MODE_MANUAL"/>
<define name="SetPwm(_v)" value="Booz2SetPwm1Value(_v)"/> <!--define name="SetPwm(_v)" value="Booz2SetPwm1Value(_v)"/-->
</section> </section>
<section name="MISC"> <section name="MISC">
<define name="BOOZ_ANALOG_BARO_THRESHOLD" value="800"/>
<define name="FACE_REINJ_1" value="1024"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="10."/> <define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
<define name="BoozDropPwm(_v)" value="BoozSetPwm0Value(_v)"/> <define name="BoozDropPwm(_v)" value="BoozSetPwm1Value(_v)"/>
<define name="IMU_MAG_OFFSET" value="RadOfDeg(-9.)"/> <!--define name="IMU_MAG_OFFSET" value="-9."/-->
</section> </section>
<section name="GCS"> <section name="GCS">
conf/boards/lisa_m_1.0.makefile
+2
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@@ -8,7 +8,9 @@
BOARD=lisa_m BOARD=lisa_m
BOARD_VERSION=1.0 BOARD_VERSION=1.0
BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\" BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\"
ifndef NO_LUFTBOOT
NO_LUFTBOOT=1 NO_LUFTBOOT=1
endif
ARCH=stm32 ARCH=stm32
$(TARGET).ARCHDIR = $(ARCH) $(TARGET).ARCHDIR = $(ARCH)
conf/conf.xml.example
+5 -6
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@@ -1,6 +1,5 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<conf> <conf>
<!-- arm7 aircrafts -->
<!-- booz2 --> <!-- booz2 -->
<aircraft <aircraft
@@ -44,7 +43,7 @@
radio="radios/cockpitMM.xml" radio="radios/cockpitMM.xml"
telemetry="telemetry/default_fixedwing.xml" telemetry="telemetry/default_fixedwing.xml"
flight_plan="flight_plans/basic.xml" flight_plan="flight_plans/basic.xml"
settings="settings/fixedwing_basic.xml settings/estimation/infrared.xml" settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/estimation/infrared.xml"
gui_color="#6293ba" gui_color="#6293ba"
/> />
<aircraft <aircraft
@@ -54,7 +53,7 @@
radio="radios/cockpitSX.xml" radio="radios/cockpitSX.xml"
telemetry="telemetry/default_fixedwing_imu.xml" telemetry="telemetry/default_fixedwing_imu.xml"
flight_plan="flight_plans/versatile.xml" flight_plan="flight_plans/versatile.xml"
settings="settings/fixedwing_tuning.xml settings/estimation/ins_neutrals.xml" settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/estimation/ins_neutrals.xml"
gui_color="blue" gui_color="blue"
/> />
<aircraft <aircraft
@@ -64,7 +63,7 @@
radio="radios/cockpitMM.xml" radio="radios/cockpitMM.xml"
telemetry="telemetry/default_fixedwing.xml" telemetry="telemetry/default_fixedwing.xml"
flight_plan="flight_plans/versatile.xml" flight_plan="flight_plans/versatile.xml"
settings="settings/fixedwing_tuning.xml settings/estimation/infrared.xml" settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/estimation/infrared.xml"
gui_color="#ba6293" gui_color="#ba6293"
/> />
<aircraft <aircraft
@@ -73,8 +72,8 @@
airframe="airframes/examples/easystar_ets.xml" airframe="airframes/examples/easystar_ets.xml"
radio="radios/cockpitSX.xml" radio="radios/cockpitSX.xml"
telemetry="telemetry/default_fixedwing.xml" telemetry="telemetry/default_fixedwing.xml"
flight_plan="flight_plans/versatile.xml" flight_plan="flight_plans/basic.xml"
settings="settings/fixedwing_tuning.xml settings/estimation/infrared.xml" settings="settings/fixedwing_basic.xml settings/estimation/infrared.xml"
gui_color="red" gui_color="red"
/> />
conf/firmwares/rotorcraft.makefile
+2 -1
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@@ -142,10 +142,11 @@ ap.CFLAGS += -DUSE_I2C2
else ifeq ($(BOARD), lisa_m) else ifeq ($(BOARD), lisa_m)
ap.CFLAGS += -DUSE_I2C2 ap.CFLAGS += -DUSE_I2C2
else ifeq ($(BOARD), navgo) else ifeq ($(BOARD), navgo)
include $(CFG_ROTORCRAFT)/spi.makefile ap.CFLAGS += -DUSE_SPI
ap.CFLAGS += -DUSE_SPI_SLAVE0 ap.CFLAGS += -DUSE_SPI_SLAVE0
ap.CFLAGS += -DSPI_NO_UNSELECT_SLAVE ap.CFLAGS += -DSPI_NO_UNSELECT_SLAVE
ap.CFLAGS += -DSPI_MASTER ap.CFLAGS += -DSPI_MASTER
ap.srcs += mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c
ap.srcs += peripherals/mcp355x.c ap.srcs += peripherals/mcp355x.c
endif endif
ifneq ($(BARO_LED),none) ifneq ($(BARO_LED),none)
conf/radios/cockpitSX.xml
+2 -2
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@@ -45,9 +45,9 @@
<!DOCTYPE radio SYSTEM "radio.dtd"> <!DOCTYPE radio SYSTEM "radio.dtd">
<radio name="cockpitSX (easy)" data_min="900" data_max="2100" sync_min ="5000" sync_max ="15000" pulse_type="POSITIVE"> <radio name="cockpitSX (easy)" data_min="900" data_max="2100" sync_min ="5000" sync_max ="15000" pulse_type="POSITIVE">
<channel ctl="D" function="ROLL" max="2050" neutral="1500" min="950" average="0"/> <channel ctl="D" function="ROLL" min="2050" neutral="1500" max="950" average="0"/>
<channel ctl="C" function="PITCH" min="2050" neutral="1500" max="950" average="0"/> <channel ctl="C" function="PITCH" min="2050" neutral="1500" max="950" average="0"/>
<channel ctl="B" function="YAW" min="2050" neutral="1500" max="950" average="0"/> <channel ctl="B" function="YAW" min="950" neutral="1500" max="2050" average="0"/>
<channel ctl="A" function="THROTTLE" min="1223" neutral="1223" max="2050" average="0"/> <channel ctl="A" function="THROTTLE" min="1223" neutral="1223" max="2050" average="0"/>
<channel ctl="G" function="UNUSED" min="2050" neutral="1500" max="950" average="1"/> <!-- center slider --> <channel ctl="G" function="UNUSED" min="2050" neutral="1500" max="950" average="1"/> <!-- center slider -->
<channel ctl="E" function="GAIN1" min="2050" neutral="1496" max="948" average="1"/> <!-- top right slider --> <channel ctl="E" function="GAIN1" min="2050" neutral="1496" max="948" average="1"/> <!-- top right slider -->
conf/settings/fixedwing_tuning.xml → conf/settings/control/ctl_basic.xml
+4 -29
View File
@@ -1,32 +1,9 @@
<!DOCTYPE settings SYSTEM "settings.dtd"> <!DOCTYPE settings SYSTEM "../settings.dtd">
<!-- A conf to use to tune a new A/C --> <!-- A conf to use to tune a new A/C -->
<settings> <settings>
<dl_settings> <dl_settings>
<dl_settings NAME="flight params">
<dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
<dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_east"/>
<dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_north"/>
</dl_settings>
<dl_settings NAME="mode">
<dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="autopilot"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="alt_kalman_enabled" shortname="alt_kalman" module="estimator"/>
<dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time"/>
<dl_setting MAX="1000" MIN="0" STEP="1" VAR="stage_time"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
<dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
<strip_button icon="circle-right.png" name="Circle right" value="1"/>
<strip_button icon="circle-left.png" name="Circle left" value="-1"/>
<key_press key="greater" value="1"/>
<key_press key="less" value="-1"/>
</dl_setting>
</dl_settings>
<dl_settings NAME="control"> <dl_settings NAME="control">
<dl_settings NAME="trim"> <dl_settings NAME="trim">
@@ -52,15 +29,13 @@
<dl_settings name="auto_throttle"> <dl_settings name="auto_throttle">
<dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" module="guidance/guidance_v" handler="SetCruiseThrottle" param="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE"> <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" module="guidance/guidance_v" handler="SetCruiseThrottle" param="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE">
<strip_button name="Loiter" value="0.1"/> <strip_button name="Loiter" value="0.1" group="dash_loiter"/>
<strip_button name="Cruise" value="0"/> <strip_button name="Cruise" value="0" group="dash_loiter"/>
<strip_button name="Dash" value="1"/> <strip_button name="Dash" value="1" group="dash_loiter"/>
</dl_setting> </dl_setting>
<dl_setting MAX="0.05" MIN="0.00" STEP="0.005" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain" param="V_CTL_AUTO_THROTTLE_PGAIN"/> <dl_setting MAX="0.05" MIN="0.00" STEP="0.005" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
<dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain" param="V_CTL_AUTO_THROTTLE_IGAIN"/> <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
<dl_setting MAX="2" MIN="0.0" STEP="0.1" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_dgain"/> <dl_setting MAX="2" MIN="0.0" STEP="0.1" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_dgain"/>
<dl_setting MAX="0" MIN="-4000" STEP="100" VAR="v_ctl_auto_throttle_dash_trim" shortname="dash trim"/>
<dl_setting MIN="0" MAX="3000" STEP="100" VAR="v_ctl_auto_throttle_loiter_trim" shortname="loiter trim" param="V_CTL_AUTO_THROTTLE_LOITER_TRIM"/>
<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr" param="V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"/> <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr" param="V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"/>
<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz" param="V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"/> <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz" param="V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"/>
<dl_setting MAX="10" MIN="-10" STEP="0.1" VAR="v_ctl_auto_throttle_pitch_of_vz_dgain" shortname="pitch_of_vz (d)"/> <dl_setting MAX="10" MIN="-10" STEP="0.1" VAR="v_ctl_auto_throttle_pitch_of_vz_dgain" shortname="pitch_of_vz (d)"/>
conf/settings/control/ctl_dash_loiter_trim.xml
+12
View File
@@ -0,0 +1,12 @@
<!DOCTYPE settings SYSTEM "../settings.dtd">
<!-- Set dash and loiter trim -->
<settings>
<dl_settings>
<dl_settings NAME="trim">
<dl_setting MAX="0" MIN="-4000" STEP="100" VAR="v_ctl_auto_throttle_dash_trim" shortname="dash trim" param="V_CTL_AUTO_THROTTLE_DASH_TRIM" module="stabilization/stabilization_attitude"/>
<dl_setting MIN="0" MAX="3000" STEP="100" VAR="v_ctl_auto_throttle_loiter_trim" shortname="loiter trim" param="V_CTL_AUTO_THROTTLE_LOITER_TRIM"/>
</dl_settings>
</dl_settings>
</settings>
sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c
+14 -9
View File
@@ -34,6 +34,11 @@
#include "mcu_periph/i2c.h" #include "mcu_periph/i2c.h"
#include "mcu_periph/sys_time.h" #include "mcu_periph/sys_time.h"
#define ASCTEC_MIN_CMD -100
#define ASCTEC_MAX_CMD 100
#define ASCTEC_MIN_THROTTLE 0
#define ASCTEC_MAX_THROTTLE 200
struct ActuatorsAsctec actuators_asctec; struct ActuatorsAsctec actuators_asctec;
@@ -86,15 +91,15 @@ void actuators_set(bool_t motors_on) {
actuators_asctec.cmds[YAW] = 0; actuators_asctec.cmds[YAW] = 0;
actuators_asctec.cmds[THRUST] = 0; actuators_asctec.cmds[THRUST] = 0;
#else /* ! KILL_MOTORS */ #else /* ! KILL_MOTORS */
actuators_asctec.cmds[PITCH] = commands[COMMAND_PITCH] + SUPERVISION_TRIM_E; actuators_asctec.cmds[PITCH] = ((commands[COMMAND_PITCH] + SUPERVISION_TRIM_E) * ASCTEC_MAX_CMD) / MAX_PPRZ;
actuators_asctec.cmds[ROLL] = commands[COMMAND_ROLL] + SUPERVISION_TRIM_A; actuators_asctec.cmds[ROLL] = ((commands[COMMAND_ROLL] + SUPERVISION_TRIM_A) * ASCTEC_MAX_CMD) / MAX_PPRZ;
actuators_asctec.cmds[YAW] = commands[COMMAND_YAW] + SUPERVISION_TRIM_R; actuators_asctec.cmds[YAW] = ((commands[COMMAND_YAW] + SUPERVISION_TRIM_R) * ASCTEC_MAX_CMD) / MAX_PPRZ;
actuators_asctec.cmds[THRUST] = commands[COMMAND_THRUST]; actuators_asctec.cmds[THRUST] = (commands[COMMAND_THRUST] * ASCTEC_MAX_THROTTLE) / MAX_PPRZ;
Bound(actuators_asctec.cmds[PITCH],-100, 100); Bound(actuators_asctec.cmds[PITCH],ASCTEC_MIN_CMD, ASCTEC_MAX_CMD);
Bound(actuators_asctec.cmds[ROLL], -100, 100); Bound(actuators_asctec.cmds[ROLL], ASCTEC_MIN_CMD, ASCTEC_MAX_CMD);
Bound(actuators_asctec.cmds[YAW], -100, 100); Bound(actuators_asctec.cmds[YAW], ASCTEC_MIN_CMD, ASCTEC_MAX_CMD);
if (motors_on) { if (motors_on) {
Bound(actuators_asctec.cmds[THRUST], 1, 200); Bound(actuators_asctec.cmds[THRUST], ASCTEC_MIN_THROTTLE + 1, ASCTEC_MAX_THROTTLE);
} }
else else
actuators_asctec.cmds[THRUST] = 0; actuators_asctec.cmds[THRUST] = 0;
@@ -121,7 +126,7 @@ void actuators_set(bool_t motors_on) {
actuators_asctec.cur_addr = actuators_asctec.new_addr; actuators_asctec.cur_addr = actuators_asctec.new_addr;
break; break;
case NONE: case NONE:
actuators_asctec.i2c_trans.buf[0] = 100 - actuators_asctec.cmds[PITCH]; actuators_asctec.i2c_trans.buf[0] = 100 - actuators_asctec.cmds[PITCH];
actuators_asctec.i2c_trans.buf[1] = 100 + actuators_asctec.cmds[ROLL]; actuators_asctec.i2c_trans.buf[1] = 100 + actuators_asctec.cmds[ROLL];
actuators_asctec.i2c_trans.buf[2] = 100 - actuators_asctec.cmds[YAW]; actuators_asctec.i2c_trans.buf[2] = 100 - actuators_asctec.cmds[YAW];
actuators_asctec.i2c_trans.buf[3] = actuators_asctec.cmds[THRUST]; actuators_asctec.i2c_trans.buf[3] = actuators_asctec.cmds[THRUST];
sw/airborne/firmwares/rotorcraft/telemetry.h
+71 -26
View File
@@ -739,44 +739,89 @@
&ahrs.ltp_to_body_euler.psi); \ &ahrs.ltp_to_body_euler.psi); \
} }
#ifdef USE_I2C0
#define PERIODIC_SEND_I2C0_ERRORS(_trans, _dev) { \
uint16_t i2c0_ack_fail_cnt = i2c0.errors->ack_fail_cnt; \
uint16_t i2c0_miss_start_stop_cnt = i2c0.errors->miss_start_stop_cnt; \
uint16_t i2c0_arb_lost_cnt = i2c0.errors->arb_lost_cnt; \
uint16_t i2c0_over_under_cnt = i2c0.errors->over_under_cnt; \
uint16_t i2c0_pec_recep_cnt = i2c0.errors->pec_recep_cnt; \
uint16_t i2c0_timeout_tlow_cnt = i2c0.errors->timeout_tlow_cnt; \
uint16_t i2c0_smbus_alert_cnt = i2c0.errors->smbus_alert_cnt; \
uint16_t i2c0_unexpected_event_cnt = i2c0.errors->unexpected_event_cnt; \
uint32_t i2c0_last_unexpected_event = i2c0.errors->last_unexpected_event; \
DOWNLINK_SEND_I2C_ERRORS(_trans, _dev, \
&i2c0_ack_fail_cnt, \
&i2c0_miss_start_stop_cnt, \
&i2c0_arb_lost_cnt, \
&i2c0_over_under_cnt, \
&i2c0_pec_recep_cnt, \
&i2c0_timeout_tlow_cnt, \
&i2c0_smbus_alert_cnt, \
&i2c0_unexpected_event_cnt, \
&i2c0_last_unexpected_event); \
}
#else
#define PERIODIC_SEND_I2C0_ERRORS(_trans, _dev) {}
#endif
#ifdef USE_I2C1 #ifdef USE_I2C1
#define PERIODIC_SEND_I2C1_ERRORS(_trans, _dev) { \ #define PERIODIC_SEND_I2C1_ERRORS(_trans, _dev) { \
DOWNLINK_SEND_I2C_ERRORS(_trans, _dev, \ uint16_t i2c1_ack_fail_cnt = i2c1.errors->ack_fail_cnt; \
&i2c1.errors->ack_fail_cnt, \ uint16_t i2c1_miss_start_stop_cnt = i2c1.errors->miss_start_stop_cnt; \
&i2c1.errors->miss_start_stop_cnt, \ uint16_t i2c1_arb_lost_cnt = i2c1.errors->arb_lost_cnt; \
&i2c1.errors->arb_lost_cnt, \ uint16_t i2c1_over_under_cnt = i2c1.errors->over_under_cnt; \
&i2c1.errors->over_under_cnt, \ uint16_t i2c1_pec_recep_cnt = i2c1.errors->pec_recep_cnt; \
&i2c1.errors->pec_recep_cnt, \ uint16_t i2c1_timeout_tlow_cnt = i2c1.errors->timeout_tlow_cnt; \
&i2c1.errors->timeout_tlow_cnt, \ uint16_t i2c1_smbus_alert_cnt = i2c1.errors->smbus_alert_cnt; \
&i2c1.errors->smbus_alert_cnt, \ uint16_t i2c1_unexpected_event_cnt = i2c1.errors->unexpected_event_cnt; \
&i2c1.errors->unexpected_event_cnt, \ uint32_t i2c1_last_unexpected_event = i2c1.errors->last_unexpected_event; \
&i2c1.errors->last_unexpected_event); \ DOWNLINK_SEND_I2C_ERRORS(_trans, _dev, \
&i2c1_ack_fail_cnt, \
&i2c1_miss_start_stop_cnt, \
&i2c1_arb_lost_cnt, \
&i2c1_over_under_cnt, \
&i2c1_pec_recep_cnt, \
&i2c1_timeout_tlow_cnt, \
&i2c1_smbus_alert_cnt, \
&i2c1_unexpected_event_cnt, \
&i2c1_last_unexpected_event); \
} }
#else #else
#define PERIODIC_SEND_I2C1_ERRORS(_trans, _dev) {} #define PERIODIC_SEND_I2C1_ERRORS(_trans, _dev) {}
#endif #endif
#ifdef USE_I2C2 #ifdef USE_I2C2
#define PERIODIC_SEND_I2C2_ERRORS(_trans, _dev) { \ #define PERIODIC_SEND_I2C2_ERRORS(_trans, _dev) { \
DOWNLINK_SEND_I2C_ERRORS(_trans, _dev, \ uint16_t i2c2_ack_fail_cnt = i2c2.errors->ack_fail_cnt; \
&i2c2.errors->ack_fail_cnt, \ uint16_t i2c2_miss_start_stop_cnt = i2c2.errors->miss_start_stop_cnt; \
&i2c2.errors->miss_start_stop_cnt, \ uint16_t i2c2_arb_lost_cnt = i2c2.errors->arb_lost_cnt; \
&i2c2.errors->arb_lost_cnt, \ uint16_t i2c2_over_under_cnt = i2c2.errors->over_under_cnt; \
&i2c2.errors->over_under_cnt, \ uint16_t i2c2_pec_recep_cnt = i2c2.errors->pec_recep_cnt; \
&i2c2.errors->pec_recep_cnt, \ uint16_t i2c2_timeout_tlow_cnt = i2c2.errors->timeout_tlow_cnt; \
&i2c2.errors->timeout_tlow_cnt, \ uint16_t i2c2_smbus_alert_cnt = i2c2.errors->smbus_alert_cnt; \
&i2c2.errors->smbus_alert_cnt, \ uint16_t i2c2_unexpected_event_cnt = i2c2.errors->unexpected_event_cnt; \
&i2c2.errors->unexpected_event_cnt, \ uint32_t i2c2_last_unexpected_event = i2c2.errors->last_unexpected_event; \
&i2c2.errors->last_unexpected_event); \ DOWNLINK_SEND_I2C_ERRORS(_trans, _dev, \
&i2c2_ack_fail_cnt, \
&i2c2_miss_start_stop_cnt, \
&i2c2_arb_lost_cnt, \
&i2c2_over_under_cnt, \
&i2c2_pec_recep_cnt, \
&i2c2_timeout_tlow_cnt, \
&i2c2_smbus_alert_cnt, \
&i2c2_unexpected_event_cnt, \
&i2c2_last_unexpected_event); \
} }
#else #else
#define PERIODIC_SEND_I2C2_ERRORS(_trans, _dev) {} #define PERIODIC_SEND_I2C2_ERRORS(_trans, _dev) {}
#endif #endif
#define PERIODIC_SEND_I2C_ERRORS(_trans, _dev) { \ #define PERIODIC_SEND_I2C_ERRORS(_trans, _dev) { \
PERIODIC_SEND_I2C1_ERRORS(_trans, _dev); \ PERIODIC_SEND_I2C0_ERRORS(_trans, _dev); \
PERIODIC_SEND_I2C2_ERRORS(_trans, _dev); \ PERIODIC_SEND_I2C1_ERRORS(_trans, _dev); \
} PERIODIC_SEND_I2C2_ERRORS(_trans, _dev); \
}
// FIXME: still used?? or replace by EXTRA_ADC // FIXME: still used?? or replace by EXTRA_ADC
#define PERIODIC_SEND_BOOZ2_SONAR(_trans, _dev) {} #define PERIODIC_SEND_BOOZ2_SONAR(_trans, _dev) {}