diff --git a/conf/airframes/OPENUAS/openuas_3dr_iris_plus.xml b/conf/airframes/OPENUAS/openuas_3dr_iris_plus.xml
new file mode 100644
index 0000000000..1843588bb7
--- /dev/null
+++ b/conf/airframes/OPENUAS/openuas_3dr_iris_plus.xml
@@ -0,0 +1,657 @@
+
+
+
+ 3DR Iris Plus Quadcopter (https://www.openuas.org/airframes/)
++ Airframe to validate all onboard functionally...
+ 3DR Iris Plus
+ + Autopilot: Default 3DR Pixhawk 2.4.x
+ + IMU: Default L3GD20 + LSM303D + MPU6000 + external HMC58XX
+ + Motors: Default Motors
+ + Actuators: Default ESCs
+ + Position: Default uBlox M8N GNSS and PX4FLOW via I2C
+ + Telemetry: Si10xx based 868 modem
+ + Current: Default Build in V/A sensing
+ + RC RX: OpenRXSR on SBus port
+ + AGL ranging: TFMini the IIC(I2C) version
+
+ NOTES:
+ + Plz calibrate your magnetometer, Yes, you too ;), unit UKF auto works...
+ + And callibrate your Accelometer also...
+ + Uses PAPARAZZI "standard" radio channel settings
+ + Flash the PPRZ firmware via USB FBW first then flash the AP
+ + Oh yeah, it is black, blue arms swapped for black
+ + To testfly this airframe yourself you need to:
+ ++ point to your own calibrations xml, search for 'calibration' in this document
+
+ WIP:
+ + Not all gains are tuned to optimum, feel free to enhance and a PR...
+ + Range sensor needs to be put to good use
+ + Optic Flow sensor needs to be put to good use
+
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diff --git a/conf/airframes/OPENUAS/openuas_bitcraze_crazyflie_2_1.xml b/conf/airframes/OPENUAS/openuas_bitcraze_crazyflie_2_1.xml
new file mode 100644
index 0000000000..ce50ae1595
--- /dev/null
+++ b/conf/airframes/OPENUAS/openuas_bitcraze_crazyflie_2_1.xml
@@ -0,0 +1,354 @@
+
+
+
++ Airframe a Bitcraze crazyflie 2.1
+ + Model: Crazyfly v2.1 in original configuration
+ + Autopilot: Defailt FMU 2.1
+ + GNSS uBlox CAM M8Q
+ + MAG External HMC5983 on GNSS device
+ + ESC: Default ESC
+ + RCRX: Via datalink
+ + TELEMETRY: Via default chip
+ + CURRENT: None
+ + RANGER: Combined on Flowdeck
+ + MOTOR: Default brushed
+ + PROP: Default
+
+ NOTES:
+ Has Flowdeck with ranger and GPS and Magneto all on I2C
+
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diff --git a/conf/airframes/OPENUAS/openuas_df_mini_spirit.xml b/conf/airframes/OPENUAS/openuas_df_mini_spirit.xml
new file mode 100644
index 0000000000..3fcc7440a3
--- /dev/null
+++ b/conf/airframes/OPENUAS/openuas_df_mini_spirit.xml
@@ -0,0 +1,977 @@
+
+
+
+* DF Mini Spirit Fixedwing (https://www.openuas.org/airframes/)
+ + Autopilot: Lisa MXS
+ + Actuators: Default PNP servos
+ + GPS: uBlox CAM M8Q GNSS
+ + AIRSPEED: -
+ + TELEMETRY: ESP8622 WiFi
+ + RC RX: OpenRXSR set to CPPM out
+
+ NOTES:
+ + Uses PAPARAZZI "standard" radio channel settings, see TU Delft Devo 10 output
+ + ESP Bottom camera can used just for some mapping, not high resolution but still fun...
+ + A 450mAh battery, expect flighttimes of ?minutes at ?m/s
+ + PPRZLink v2 advised for tcas fun if you have multiple airframes
+ + OpenRX XSR
+
+ WIP:
+ + Addition of pico Airspeed sensor
+
+ Launching
+ + 1)Set TX to AUTO2 (or even switch off your TX is you dare)
+ 2) Move nose to ground
+ 3) wait until prop spins after a second or so,
+ 4) move aircraft slight pitch up
+ 5) throw...
+
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diff --git a/conf/airframes/OPENUAS/openuas_durafly_g2.xml b/conf/airframes/OPENUAS/openuas_durafly_g2.xml
new file mode 100644
index 0000000000..8b2d49fa72
--- /dev/null
+++ b/conf/airframes/OPENUAS/openuas_durafly_g2.xml
@@ -0,0 +1,630 @@
+
+
+
+ * Durafly G2 Gyrocopter (https://www.openuas.org/airframes/)
+ + Autopilot: PX4FMU 4.0 aka Pixracer v1.0 R14
+ + Actuators: Default servos
+ + GPS: Ublox M8N GNSS
+ + TELEMETRY: Si10xx Chip based with full fledged multifreq firmware
+ + CURRENT: A standard Volt and Current sensor on the analog ports
+ + RANGER: TFMini UART() on Telem2
+ + RC RX: OpenRX R-XSR Sbus out
+
+ NOTES:
+ + Hey, calibrate your magneto! Yes, you too ;), unit UKF auto works...
+ + Yeah.. and you Accelometer also... EKF2 will like you :)
+ + Servos powered by ESC BEC and AP incl. telemetry powered from module
+ + AP board Servo pins point to tail of airframe
+ + Engine battery voltage and amp values via separate sensor
+ + Flashing the firmware is done via original PX4 bootloader...
+ Simple, USB cable in, upload.. voila PPRZ aircraft on a Pixracer...
+ + Pre-rotator board buid in
+ + On I2C we have external magneto
+ + Buzzer
+ + This gyrocopter flies more like a fixedwing than a rotorcraft
+ WIP:
+ + RPM measuring sensor of current free rotating head, quite important to have it
+
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diff --git a/conf/airframes/OPENUAS/openuas_durafly_goblin.xml b/conf/airframes/OPENUAS/openuas_durafly_goblin.xml
new file mode 100644
index 0000000000..a343cfbf55
--- /dev/null
+++ b/conf/airframes/OPENUAS/openuas_durafly_goblin.xml
@@ -0,0 +1,496 @@
+
+
+
++ Airframe with the PX4 Pixracer flightcontroller hardware
+ + Model: Durafly Goblin in original configuration
+ + Autopilot: PX4FMU 4.0 in the form of a Pixracer v1.0 R15
+ + Actuators: Regular metal gear servos
+ + GNSS Ublox M8N GNSS
+ + MAG External QMC Magnetometer on GNSS device
+ + ESC: Default
+ + RCRX: OpenRXSR Receiver
+ + AIRSPEED: No airspeed
+ + TELEMETRY: Si10xx Chip based with firmware allowing PPRZ RSSI
+ + CURRENT: A standard 3DR PowerBrick clone sensor on the default analog ports
+ + RANGER: MAXBOTICS MB1010, LV-MaxSonar-EZ1 Ultrasonic sensor analog, or via CTS PWM pin
+ + MOTOR: Default
+ + PROP: Default
+
+NOTES:
+ + Servo pins point to FRONT of airframe
+ + AP is rotated sideways 90 degrees counterclockwise, so SDcard and USB to top
+ + Engine battery voltage and current values via separate sensor
+ + Servos and Sonar powered via BEC of ESC
+ + AP via additional BEC
+ + Telemetry via BEC on powerbrick
+ + Flashing the firmware can be done via original PX4 bootloader...
+ Simple, USB cable in, upload.. voila PPRZ aircraft on a Pixracer...
+ + A GNSS device with ANOTHER magneto on it is used, external...
+ + Separate Aileron servo outputs pin for more differential options
+
+
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diff --git a/conf/airframes/OPENUAS/openuas_eachine_trashcan.xml b/conf/airframes/OPENUAS/openuas_eachine_trashcan.xml
new file mode 100644
index 0000000000..bad1cabf95
--- /dev/null
+++ b/conf/airframes/OPENUAS/openuas_eachine_trashcan.xml
@@ -0,0 +1,495 @@
+
+
+
+* Airframe for the regular "Trashcan" Quadrotor frame equipped with to validate all onboard functionally.
+ + Autopilot: Default Crazybee F4 Pro STM32F4 and all that comes with it
+ + Actuators: Default onboard Blheli S ESCs see http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM
+ + Telemetry: Default WiFi Via ESP8266 see
+ + RC RX: OpenRX FrSky compatible over air 2.4Ghz CPPM out on LED pin
+
+ NOTES:
+ + All set to expect flying on 2s LiPo battery, 1s LiPo battery possible but no gains set or autocompensation (yet..)
+ + Removed Camera and Video TX to be replaced by a JeVois (www.jevois.org) camera on Uart1
+ + RC control also possible via wifi telemetry module
+ + Vison: added a JeVois on UART1 TX/RX
+ + RC RX: OpenRX FrSky compatible over air 2.4Ghz CPPM out,
+ + Wifi telemetry module also allows RC
+
+ WIP:
+ + GPS: uBlox SAM M8Q with Magneto n Baro GNSS
+ + FPV RC only target to learn to recover your Drone in case of AP mishap
+
+
+
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diff --git a/conf/airframes/OPENUAS/openuas_eflite_t28.xml b/conf/airframes/OPENUAS/openuas_eflite_t28.xml
index 2d62694148..fe4fa22879 100644
--- a/conf/airframes/OPENUAS/openuas_eflite_t28.xml
+++ b/conf/airframes/OPENUAS/openuas_eflite_t28.xml
@@ -1,25 +1,26 @@
-+ Airframe with the PX4 Pixracer v1 AP hardware
++ Airframe with the PX4 Pixracer flightcontroller hardware
+ Model: E-Flite T28 Trojan fully equiped with Retractable gear and flap
- + Autopilot: PX4FMU 4.0 aka Pixracer v1.0 R14
+ + Autopilot: PX4FMU 4.0 in the form of a Pixracer v1.0 R14
+ Actuators: Regular digital servos
+ GNSS: Ublox M8N GNSS
+ + MAG External QMC Magnetometer on GNSS device
+ ESC: CastleCreations Phoenix 35
+ RCRX: OpenRXSR Receiver
+ AIRSPEED: Eagletree Airspeed v3 via I2C
+ TELEMETRY: Si10xx Chip based with firmware allowing PPRZ RSSI
+ CURRENT: A standard V/I 3DR PowerBrick clone sensor on the default analog ports
- + RANGER: MAXBOTICS Ultrasonic sensor analog on RSSI pin just for fun
+ + RANGER: MAXBOTICS MB1010, LV-MaxSonar-EZ1 Ultrasonic sensor analog, via RSSI pin
+ MOTOR: Default Kv ? rpm pro V
+ PROP: 2 Blade dia and pitch in inch
NOTES:
+ Using Enahanced Total Energy control as control loop in Final AC
- + Servo pins point to tail of airframe
+ + Servo pins point to TAIL of airframe
+ Engine battery voltage and current values via separate sensor
- + Servos and Sonar powered via ESC, AP via powerbrick
+ + Servos and Sonar powered via BEC of the ESC, AP via BEC on powerbrick
+ Flashing the firmware can be done via original PX4 bootloader...
Simple, USB cable in, upload.. voila PPRZ aircraft on a Pixracer...
+ A GNSS device with ANOTHER magneto on it is used, external...
@@ -34,18 +35,25 @@ NOTES:
-
+
+
+
+
+
-
+
+
@@ -60,7 +68,8 @@ NOTES:
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@@ -86,13 +107,6 @@ NOTES:
-
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@@ -101,13 +115,13 @@ NOTES:
-->
-
+
-
+
+
@@ -151,6 +165,10 @@ NOTES:
+
+
@@ -246,6 +264,7 @@ NOTES:
+
@@ -288,21 +307,36 @@ NOTES:
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@@ -312,29 +346,7 @@ NOTES:
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@@ -495,14 +507,14 @@ NOTES:
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@@ -520,9 +532,9 @@ NOTES:
@@ -543,10 +555,10 @@ NOTES:
-
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@@ -567,7 +579,6 @@ NOTES:
-->
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@@ -605,22 +616,35 @@ NOTES:
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-
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+
@@ -672,10 +696,10 @@ The most crucial part for the magnetometer calibration:
-
-
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-
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+
+
-
+
@@ -724,6 +748,12 @@ The most crucial part for the magnetometer calibration:
+
+
+
@@ -735,7 +765,7 @@ The most crucial part for the magnetometer calibration:
-
+
@@ -767,7 +797,7 @@ The most crucial part for the magnetometer calibration:
-
+
@@ -780,12 +810,12 @@ The most crucial part for the magnetometer calibration:
-->
-
+
+
+
@@ -805,7 +835,7 @@ The most crucial part for the magnetometer calibration:
-
+
-
+
-
+
@@ -854,14 +884,14 @@ The most crucial part for the magnetometer calibration:
-
+
-
+
-
-
+
+
@@ -869,13 +899,13 @@ The most crucial part for the magnetometer calibration:
-
-
-
-
+
+
+
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-
+
@@ -892,29 +922,33 @@ The most crucial part for the magnetometer calibration:
-
+
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+
-
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+
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+
-
-
+
+
-
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-
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-
-
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+
@@ -922,7 +956,7 @@ The most crucial part for the magnetometer calibration:
-
+
@@ -930,7 +964,6 @@ The most crucial part for the magnetometer calibration:
-
@@ -940,9 +973,9 @@ The most crucial part for the magnetometer calibration:
-
+
-
+
@@ -954,9 +987,9 @@ The most crucial part for the magnetometer calibration:
-
-
-
+
+
+
diff --git a/conf/airframes/OPENUAS/openuas_eflite_umx_sbach_342.xml b/conf/airframes/OPENUAS/openuas_eflite_umx_sbach_342.xml
new file mode 100644
index 0000000000..621585a731
--- /dev/null
+++ b/conf/airframes/OPENUAS/openuas_eflite_umx_sbach_342.xml
@@ -0,0 +1,540 @@
+
+
+
+ + UMX SBach 342 Fixedwing (http://www.openuas.org/aircraft)
+ + Airframe to test transition from prop-hanging hover to forward and vice versa in a tiny airframe
+ + Autopilot: Lisa/S v1.0
+ + Actuators: UltraMicro SPMA2000L longthrow servos
+ + GPS: Onboard uBlox MAX7Q
+ + RCRX: OpenRX R-XSR set to cPPM out
+ + TELEMETRY: Custom ESP8266 module with custom firmware
+ + ESC: Plush 6A with added RPM out on pin 1.1
+ + LOGGER: OnboardSD highspeed logger
+
+ NOTES:
+ + Servo pins point to back of airframe
+ + Custom adjusted BLHeli, see mod in airframe remarks
+ + If programming the RX make sure there is no dual-rate switched on and the range of CH2n4 get to 100pct of range
+
+
+
+
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diff --git a/conf/airframes/OPENUAS/openuas_eflite_xvert.xml b/conf/airframes/OPENUAS/openuas_eflite_xvert.xml
new file mode 100644
index 0000000000..67223e3192
--- /dev/null
+++ b/conf/airframes/OPENUAS/openuas_eflite_xvert.xml
@@ -0,0 +1,251 @@
+
+
+
+
+
+ * E-flite X-VERT VTOL (https://www.openuas.org/airframes/)
+ + Autopilot: Default STM32F3 based
+ + Actuators: Default servos, 2 PWM servo's, 2 escs through some proprietary atmega uart protocol
+ + GPS: Ublox M8N GNSS over I2C
+ + IMU: MPU6500 on mainboard and external HMC58XX on GNSS module
+ + TELEMETRY: Si10xx Chip based with full fledged multifreq firmware
+ + CURRENT: A standard Volt and Current sensor on the analog ports
+ + RANGER: {none yet}
+ + RC: RC over Datalink
+
+ NOTES:
+ + Hey, calibrate your magneto! Yes, you too ;), unit UKF auto works...
+ + Yeah.. and you Accelometer also... EKF2 will like you :)
+ + Flashing the firmware is done (For now..) via tiny SWD wires solderd on Main PCB, for Hardcore builder only ;)...
+ WIP:
+ + Many thing to improve, e.g. RC and the Flashing method
+
+
+
+
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diff --git a/conf/airframes/OPENUAS/openuas_emax_tinyhawk_ii.xml b/conf/airframes/OPENUAS/openuas_emax_tinyhawk_ii.xml
new file mode 100644
index 0000000000..0d277b4166
--- /dev/null
+++ b/conf/airframes/OPENUAS/openuas_emax_tinyhawk_ii.xml
@@ -0,0 +1,425 @@
+
+
+
+* Airframe for the regular "EMAX Tinyhawk II" Quadrotor frame
+ + Autopilot: Default Matek f411RX v0 STM32F4 CrazeeBee Pro F4 compatible
+ + Actuators: Default onboard Blheli S ESCs see http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM
+ + Telemetry: Default via FrSky to TX to USB out to GCS PC
+ + RC RX: CC2500 via SPI software FrSky compatible over air 2.4Ghz
+
+ NOTES:
+ + All set to expect flying on 2s LiPo battery, 1s LiPo battery possible but needs other gain set
+ + For FPV racing control tests only
+ + No GPS
+ + No Baro
+ + No Magneto
+ + Test Highest loop rate possible for this board
+ + Flip module
+ + Module for OSD
+ + Tuned for Race and ACRO
+ + Try out INDI full with rpm feedback
+
+
+
+
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diff --git a/conf/airframes/OPENUAS/openuas_taxiiii.xml b/conf/airframes/OPENUAS/openuas_graupner_taxi_iii.xml
similarity index 96%
rename from conf/airframes/OPENUAS/openuas_taxiiii.xml
rename to conf/airframes/OPENUAS/openuas_graupner_taxi_iii.xml
index e53c2ef520..83c127c9d2 100644
--- a/conf/airframes/OPENUAS/openuas_taxiiii.xml
+++ b/conf/airframes/OPENUAS/openuas_graupner_taxi_iii.xml
@@ -14,26 +14,25 @@
-
+
-
+
-
+
-
-
+
@@ -49,12 +48,12 @@
-
+
-
+
@@ -85,7 +84,7 @@
-
+
@@ -99,14 +98,14 @@
-
-
-
-
+
+
+
+
@@ -382,7 +381,7 @@ If not set before when you would enter home mode you had to flip a bit via the G
-
+
@@ -394,4 +393,3 @@ If not set before when you would enter home mode you had to flip a bit via the G
-
diff --git a/conf/airframes/OPENUAS/openuas_leapfrogeye.xml b/conf/airframes/OPENUAS/openuas_leapfrogeye.xml
deleted file mode 100644
index 4f6cd00fe7..0000000000
--- a/conf/airframes/OPENUAS/openuas_leapfrogeye.xml
+++ /dev/null
@@ -1,239 +0,0 @@
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diff --git a/conf/airframes/OPENUAS/openuas_mentor.xml b/conf/airframes/OPENUAS/openuas_mentor.xml
deleted file mode 100644
index 48cc2e5288..0000000000
--- a/conf/airframes/OPENUAS/openuas_mentor.xml
+++ /dev/null
@@ -1,260 +0,0 @@
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diff --git a/conf/airframes/OPENUAS/openuas_multiplex_minimag.xml b/conf/airframes/OPENUAS/openuas_multiplex_minimag.xml
index 2a3b08f16c..ea21e5f372 100644
--- a/conf/airframes/OPENUAS/openuas_multiplex_minimag.xml
+++ b/conf/airframes/OPENUAS/openuas_multiplex_minimag.xml
@@ -1,17 +1,18 @@
-+ Airframe with the PX4 Pixracer v1 R15 flightcontroller hardware
- + Model: Multiplex Minimag removed fixed landing gear and easy removable stabilo modification
++ Airframe with the PX4 Pixracer flightcontroller hardware
+ + Model: Multiplex Minimag removed fixed landing gear and easy removable stabilo modification
+ Autopilot: PX4FMU 4.0 in the form of a Pixracer v1.0 R15
+ Actuators: Regular metal gear servos
- + GNSS Ublox M9N GNSS + HMC5883L Magnetometer
+ + GNSS Ublox M9N GNSS
+ + MAG External HMC5883L Magnetometer on GNSS device
+ ESC: CastleCreations Phoenix 35
+ RCRX: OpenRXSR Receiver
+ AIRSPEED: Eagletree Airspeed v3 via I2C
+ TELEMETRY: Si10xx Chip based with firmware allowing PPRZ RSSI
+ CURRENT: A standard V/I 3DR PowerBrick clone sensor on the default analog ports
- + RANGER: MAXBOTICS MB1010, LV-MaxSonar-EZ1 Ultrasonic sensor analog, via RSSI pin, just for fun with PPRZ code validation
+ + RANGER: MAXBOTICS MB1010, LV-MaxSonar-EZ1 Ultrasonic sensor analog, via RSSI pin
+ MOTOR: Kv 1300 rpm pro V
+ PROP: 3 Blade 6in x 4.5in Left
@@ -20,12 +21,12 @@ NOTES:
+ Servo pins point to FRONT of airframe
+ AP is rotated sideways 90 degrees counterclockwise, so SDcard and USB to top
+ Engine battery voltage and current values via separate sensor
- + Servos and Sonar powered via ESC, AP via powerbrick
+ + Servos and Sonar powered via BEC of the ESC, AP via BEC on powerbrick
+ Flashing the firmware can be done via original PX4 bootloader...
Simple, USB cable in, upload.. voila PPRZ aircraft on a Pixracer...
+ A GNSS device with ANOTHER magneto on it is used, external...
+ On I2C we have airspeed sensor and external magneto via a I2C split
- + Separate Aileron outputs for possible flapperon (down) spoileron (up) braking precision landings
+ + Separate Aileron servo outputs pin for possible flapperon (down) spoileron (up) braking precision landings
+ uBlox M9P Pedestrian setting would fit the bill best, lets see...
++ Max Altitude[m]: 9000
++ Max HorizontalVelocity [m/s]: 30
@@ -42,12 +43,9 @@ NOTES:
-
-
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@@ -98,13 +96,15 @@ NOTES:
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@@ -115,12 +115,20 @@ NOTES:
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+
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+
@@ -165,9 +173,9 @@ NOTES:
-
+
@@ -253,6 +261,9 @@ NOTES:
+
+
+
@@ -261,7 +272,7 @@ NOTES:
-
+
@@ -300,14 +311,12 @@ NOTES:
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+
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@@ -315,11 +324,13 @@ NOTES:
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@@ -343,7 +354,7 @@ NOTES:
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@@ -381,7 +398,6 @@ NOTES:
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@@ -441,9 +457,9 @@ NOTES:
-->
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@@ -498,14 +514,14 @@ NOTES:
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@@ -544,10 +561,10 @@ NOTES:
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+
@@ -557,8 +574,8 @@ NOTES:
TODO disable again after strong wind sidewind autolanding is 100% tuned
Note that in auto2 mode the Flap and Gear are after test then controlable by flightplan conditions e.g landng block extend gear and flap -->
-
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@@ -686,9 +703,9 @@ The most crucial part for the magnetometer calibration:
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@@ -776,10 +802,10 @@ The most crucial part for the magnetometer calibration:
-->
@@ -790,12 +816,12 @@ The most crucial part for the magnetometer calibration:
-->
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+
+
@@ -815,7 +841,7 @@ The most crucial part for the magnetometer calibration:
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@@ -964,12 +990,12 @@ The most crucial part for the magnetometer calibration:
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@@ -1001,7 +1027,7 @@ The most crucial part for the magnetometer calibration:
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diff --git a/conf/airframes/OPENUAS/openuas_multiplex_twinstar_nd.xml b/conf/airframes/OPENUAS/openuas_multiplex_twinstar_nd.xml
new file mode 100644
index 0000000000..abe6ff63aa
--- /dev/null
+++ b/conf/airframes/OPENUAS/openuas_multiplex_twinstar_nd.xml
@@ -0,0 +1,920 @@
+
+
+
++ Airframe with PX4 Pixracer v1 AP hardware
+ + Model: Multiplex Twinstar ND
+ + Autopilot: PX4FMU 4.0 aka Pixracer v1.0 R15
+ + Actuators: Regular 12g metal gear digital servos
+ + GPS: Ublox M9N GNSS
+ + RCRX: OpenRXSR Receiver
+ + AIRSPEED: Eagletree via I2C
+ + TELEMETRY: Si10xx Chip based with custom firmware
+ + CURRENT: A standard V/I sensor on the analog ports
+ + RANGER: TFMini
+
+NOTES:
+ + Using Enahanced Total Energy control as control loop in Final AC
+ + Servo pins point to tail of airframe
+ + Engine battery voltage and amp values via separate sensor
+ + Flashing the firmware is done via original PX4 bootloader...
+ Simple, USB cable in, upload.. voila PPRZ aircraft on a Pixracer...
+ + A GNSS device with ANOTHER magneto on it is used, external...
+ + On I2C we have airspeed sensor and external magneto via a I2C split
+
+ If testing "Classic" (as in not ETECS..) make sure to disable the settings/estimation/ac_char
+ Se the USE_AIRSPEED value to FALSE at first, for no airspeed tests
+ Use also flightplan_versatile if no airspeed sensor is ues and use
+ flightplan versatile_unified only with enabled airspeed sensor
+
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diff --git a/conf/airframes/OPENUAS/openuas_own_flexo.xml b/conf/airframes/OPENUAS/openuas_own_flexo.xml
new file mode 100644
index 0000000000..436ff43fe2
--- /dev/null
+++ b/conf/airframes/OPENUAS/openuas_own_flexo.xml
@@ -0,0 +1,1065 @@
+
+
+
+ + Airframe with the PX4 Pixracer v1 R15 flightcontroller hardware
+ + Model: A Fixedwing with flexible wing actuation steering
+ + Autopilot: PX4FMU 4.0 in the form of a Pixracer v1.0 R15
+ + Actuators: Regular servos and 2xBIG stronng fr the wing to twist
+ + GNSS Ublox M9N GNSS + HMC5883L Magnetometer
+ + ESC: Default
+ + RCRX: OpenRXSR Receiver
+ + AIRSPEED: Eagletree Airspeed v3 via I2C
+ + TELEMETRY: Si10xx Chip based with firmware allowing PPRZ RSSI
+ + CURRENT: A standard V/I 3DR PowerBrick clone sensor on the default analog ports
+ + MOTOR: Kv ? rpm pro V
+ + PROP: 2 Blade dia and pitch in inch
+
+NOTES:
+ + Using Enahanced Total Energy control as control loop in Final AC
+ + Servo pins point to FRONT of airframe
+ + AP is rotated sideways 90 degrees counterclockwise, so SDcard and USB to top
+ + Engine battery voltage and current values via separate sensor
+ + Servos powered via High current BEC, rest via ESC Bec, AP via powerbrick
+ + Flashing the firmware can be done via original PX4 bootloader...
+ Simple, USB cable in, upload.. voila PPRZ aircraft on a Pixracer...
+ + A GNSS device with ANOTHER magneto on it is used, external...
+ + On I2C we have airspeed sensor and external magneto via a I2C split
+
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diff --git a/conf/airframes/OPENUAS/openuas_own_itsy_bitsy.xml b/conf/airframes/OPENUAS/openuas_own_itsy_bitsy.xml
new file mode 100644
index 0000000000..ddd088cc0e
--- /dev/null
+++ b/conf/airframes/OPENUAS/openuas_own_itsy_bitsy.xml
@@ -0,0 +1,240 @@
+
+
+
+ Base is a LadyBird quadrotor frame but now equiped with Lisa/S 1.0
+ The LadyBird frame comes with four brushed motors in an X configuration.
+
+ The motor and rotor configuration is the following:
+
+ Front
+ ^
+ |
+
+ Motor3(NW) Motor0(NE)
+ CW CCW
+ \ /
+ ,___,
+ | |
+ | |
+ |___|
+ / \
+ CCW CW
+ Motor2(SW) Motor1(SE)
+
+ The Lisa/S is rotated by 13deg CCW against the frame.
+
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diff --git a/conf/airframes/OPENUAS/openuas_own_jetson_tx220.xml b/conf/airframes/OPENUAS/openuas_own_jetson_tx220.xml
new file mode 100644
index 0000000000..d1da65ea7b
--- /dev/null
+++ b/conf/airframes/OPENUAS/openuas_own_jetson_tx220.xml
@@ -0,0 +1,490 @@
+
+
+
+* Airframe for the regular "Trashcan" Quadrotor frame equipped with to validate all onboard functionally.
+ + Autopilot: Default Crazybee F4 Pro STM32F4 and all that comes with it
+ + Actuators: Default onboard Blheli S ESCs see http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM
+ + Telemetry: Default WiFi Via ESP8266 see
+ + RC RX: OpenRX FrSky compatible over air 2.4Ghz CPPM out on LED pin
+
+ NOTES:
+ + All set to expect flying on 2s LiPo battery, 1s LiPo battery possible but no gains set (yet..)
+ + Removed Camera and Video TX to be replaced by a JeVois (www.jevois.org) camera on Uart1
+ + RC control also possible via wifi telemetry module
+ + Vison: added a JeVois on UART1 TX/RX
+ + RC RX: OpenRX FrSky compatible over air 2.4Ghz CPPM out,
+ + Wifi telemetry module also allows RC
+
+ WIP:
+ + GPS: uBlox SAM M8Q with Magneto n Baro GNSS
+
+
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diff --git a/conf/airframes/OPENUAS/openuas_own_mavtec.xml b/conf/airframes/OPENUAS/openuas_own_mavtec.xml
new file mode 100644
index 0000000000..fc5bd52375
--- /dev/null
+++ b/conf/airframes/OPENUAS/openuas_own_mavtec.xml
@@ -0,0 +1,202 @@
+
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diff --git a/conf/airframes/OPENUAS/openuas_own_moksha.xml b/conf/airframes/OPENUAS/openuas_own_moksha.xml
new file mode 100644
index 0000000000..058ddc4894
--- /dev/null
+++ b/conf/airframes/OPENUAS/openuas_own_moksha.xml
@@ -0,0 +1,585 @@
+
+
+
+ Modified Multiplex Xeno (http://www.multiplex-rc.de/)
+ TWOG1 (http://paparazziuav.org/wiki/index.php/)
+ With modified power routing by a cut PCB trace
+
+ DEVICES:
+ * CHIMU on SPI
+ * XBee XSC 868/900Mhz
+ * uBlox LEA5H and Sarantel helix GPS antenna flat in wing
+ * Eagletree Airspeed sensor via I2C
+ * Eagletree Height (Baro) sensor via I2C
+ * Current sensor on analog port
+ * RPM sensor for brushless measurments on ESC
+ * Tilted Infrared sensor for X,Y,Z still on board for fun to compare with CHIIMU values, not for attitude in AP mode
+ * OpenRXSR receiver set to CPPM out
+
+
+ BUILDLINE
+ make -C $PAPARAZZI_HOME -f Makefile.ac AIRCRAFT=Moksha ap.compile
+
+ NOTES:
+ To ins_chimu_spi.c modified a line to this one below, since somehow roll and pitch setting where not getting through correctly:
+
+ EstimatorSetAtt(CHIMU_DATA.m_attitude.euler.phi+ins_roll_neutral, CHIMU_DATA.m_attitude.euler.psi, CHIMU_DATA.m_attitude.euler.theta+ins_pitch_neutral);
+
+ To test the "hatch" function we use bright lights, easy to spot from the
+ ground, e.g for a droptest without dropping a thing...
+ Ofcourse, also the log will show where a payload would have been released
+ but lights are much more fun, and good for instant human feedback without the payload retrieval walk.
+
+ NOTES:
+ + Using Total Energy control as control loop
+ + Make sure v5.14 or master of PPRZ sourcecode is used
+ + Used mac06a.xml airframe as starting point for payload release settings
+
+ WIP:
+ + Current sensor on battery wires going to motor
+ + geo_mag module fixedwing
+
+
+
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diff --git a/conf/airframes/OPENUAS/openuas_own_sumo_ii.xml b/conf/airframes/OPENUAS/openuas_own_sumo_ii.xml
new file mode 100644
index 0000000000..3b83f010d8
--- /dev/null
+++ b/conf/airframes/OPENUAS/openuas_own_sumo_ii.xml
@@ -0,0 +1,1067 @@
+
+
+
++ Airframe with the PX4 Pixracer v1 R15 flightcontroller hardware
+ + Model: Multiplex Funjet Ultra and easy removable stabilo modification
+ + Autopilot: PX4FMU 4.0 in the form of a Pixracer v1.0 R15
+ + Actuators: Regular servos of the ARF or RR version
+ + GNSS Ublox M9N GNSS + QMC5883L Magnetometer
+ + ESC: Default ESC 35A of ARF or RR version
+ + RCRX: OpenRXSR Receiver set to SBUS out
+ + AIRSPEED: Eagletree Airspeed v3 via I2C
+ + TELEMETRY: Si10xx Chip based with firmware allowing PPRZ RSSI
+ + CURRENT: A standard V/I 3DR PowerBrick clone sensor on the default analog ports
+ + RANGER: MAXBOTICS Ultrasonic sensor analog on RSSI pin just for fun
+ + MOTOR: Deault Kv rpm pro V
+ + PROP: Foldable 2 6x6 Blade dia and pitch in inch
+
+NOTES:
+ + Using Enahanced Total Energy control as control loop in Final AC
+ + Servo pins point to FRONT of airframe
+ + AP is rotated sideways 90 degrees counterclockwise, so SDcard and USB to top
+ + Engine battery voltage and current values via separate sensor
+ + Servos and Sonar powered via ESC, AP via powerbrick
+ + Flashing the firmware can be done via original PX4 bootloader...
+ Simple, USB cable in, upload.. voila PPRZ aircraft on a Pixracer...
+ + A GNSS device with ANOTHER magneto on it is used, external...
+ + On I2C we have airspeed sensor and external magneto via a I2C split
+ + uBlox M9P Pedestrian setting would fit the bill best, lets see...
+
+
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diff --git a/conf/airframes/OPENUAS/openuas_vivify.xml b/conf/airframes/OPENUAS/openuas_own_vivify.xml
similarity index 97%
rename from conf/airframes/OPENUAS/openuas_vivify.xml
rename to conf/airframes/OPENUAS/openuas_own_vivify.xml
index f451aa1bee..c08eeb1f4d 100644
--- a/conf/airframes/OPENUAS/openuas_vivify.xml
+++ b/conf/airframes/OPENUAS/openuas_own_vivify.xml
@@ -1,13 +1,13 @@
-
-
-
+
@@ -61,7 +60,7 @@
-
+
@@ -79,13 +78,12 @@
-
-
+
@@ -102,7 +100,6 @@
-
@@ -159,8 +156,8 @@
-
-
+
+
@@ -190,10 +187,14 @@
-
+
+
@@ -261,10 +262,10 @@
-
+
+
@@ -598,7 +599,6 @@ we had an option to use glovs, or start up spinning the prop after a throw. If t
diff --git a/conf/airframes/OPENUAS/openuas_parrot_ardrone_2.xml b/conf/airframes/OPENUAS/openuas_parrot_ardrone_2.xml
new file mode 100644
index 0000000000..057708bdb9
--- /dev/null
+++ b/conf/airframes/OPENUAS/openuas_parrot_ardrone_2.xml
@@ -0,0 +1,538 @@
+
+
+
+ Parrot AR.Drone 2.0 with added UBlox GPS, just an Airframe to validate all onboard functionally...
+
+ + Autopilot: Default board
+ + Actuators: Default motors
+ + GPS: Added uBlox M6N GNSS
+ + TELEMETRY: Default WiFi
+ + CURRENT: Default Build in V/A sensing
+ + RC RX: Joystick on GCS then via Wifi (for now...)
+
+ NOTES:
+ + IF you want to fly then:
+ ++ Calibrate your magnetometer... Yes, you too...
+ ++ Yeah.. and calibrate your Accelometer also...
+
+ + Uses PAPARAZZI "standard" radio channel settings
+ + One could make a flightplan mimicing exact default behaviour of Parrot App
+ + Tested with Firmware v2.4.8, update to this firmware version if not done already
+ + Can use INDI full for control
+ + Flash the PPRZ firmware via WiFi or USB
+ + Bottom camera can used just for some mapping, not high resolution but still fun...
+ + PPRZLink v2 advised for tcas fun
+ + To testfly this airframe yourself you need to:
+ ++ point to your own calibrations xml, search for 'calibration' in this document
+ ++ Make sure your drone runs firmware 2.4.8 or 2.4.10
+
+ WIP:
+ + Not all gains are tuned to optimum, feel free to enhance and a PR...
+
+ Launching
+ + 1) Set TX to AUTO2
+ 2) wait until props spin after a second or so... then
+ 3) There it goes... performing your mission, you better made sure to have a good flightplan
+
+ Setting1:
+ + All setting a so this object is ment to fly inide a "virtual" box of 10m x 10m with RTK to the max of its envelope with no wind
+ The values are tuned so that the flight speed is limited and the drone does not over-shoot the waypoints as it would in outdoor settings.
+
+ Setting2:
+ + All setting a so this object is ment to fly outside to the max of its envelope unde various wind conditions
+
+
+
+
+
+
+
+
+
+
+
+
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diff --git a/conf/airframes/OPENUAS/openuas_parrot_bebop.xml b/conf/airframes/OPENUAS/openuas_parrot_bebop.xml
new file mode 100644
index 0000000000..0d970f6e04
--- /dev/null
+++ b/conf/airframes/OPENUAS/openuas_parrot_bebop.xml
@@ -0,0 +1,594 @@
+
+
+
+ Parrot Bebop Quadcopter (https://www.openuas.org/airframes/)
++ Airframe to validate all onboard functionally...
+ Parrot Bebop
+ + Autopilot: Default Parrot Bebop board
+ + Actuators: Default Motors
+ + GPS: Default Furuno
+ + TELEMETRY: Default WiFi
+ + CURRENT: Default Build in V/A sensing
+ + RC RX: Joystick on USB of a GCS forward via Wifi (for now...)
+
+ NOTES:
+ + Hey, calibrate your magneto! Yes, you too ;), unit UKF auto works...
+ + Yeah.. and your Accelometer also... EKF2 will like you if you use it :)
+ + Uses PAPARAZZI "standard" radio channel settings
+ + One could make a flightplan mimicing exact default behaviour of Parrot App
+ + Tested with Firmware v4.0.6, update to this Bebop firmware version if not done already
+ + Can use INDI full for control
+ + Flash the PPRZ firmware via WiFi or USB
+ + Regular Telemetry is possible via USB to FTDI serial to Modem, added kernel drivers see:
+ https://wiki.paparazziuav.org/wiki/Howto.crosscompile_for_parrot_drones
+ https://wiki.paparazziuav.org/wiki/Use_the_USB_port_on_Parrot_Drones
+ + Bottom camera can used just for some mapping, not high resolution but still fun...
+ + PPRZLink v2 advised for tcas fun
+ + Theoretically an RC receiver can be added with e.g. SBus RX out via FTDI to USB
+ + There are no other modification, also not on the vibration absorbers. Oh yeah, it is black ;)
+ + To testfly this airframe yourself you need to:
+ ++ point to your own calibrations xml, search for 'calibration' in this document
+ ++ Make sure your drone runs firmware 4.0.6
+
+ WIP:
+ + Not all gains are tuned to optimum, feel free to enhance and a PR...
+ + The front cam is not yet fully supported with internal code
+ + Sonar needs to be put to good use
+ + SD SRTM via onboard storage not implemented (yet..)
+ + likely more, but we forgot...
+
+ Launching
+ + 1)Set TX to AUTO2 (or even switch off your TX is you dare)
+ 2) wait until props spins after a second or so
+ 3) There it goes...
+
+ Setting1:
+ + All setting a so this object is ment to fly inide a "virtual" box of 10m x 10m with RTK to the max of its envelope with no wind
+ The values are tuned so that the flight speed is limited and the drone does not over-shoot the waypoints as it would in outdoor settings.
+ Setting2:
+ + All setting a so this object is ment to fly outside to the max of its envelope unde various wind conditions
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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diff --git a/conf/airframes/OPENUAS/openuas_parrot_bebop_2.xml b/conf/airframes/OPENUAS/openuas_parrot_bebop_2.xml
new file mode 100644
index 0000000000..0512464bdc
--- /dev/null
+++ b/conf/airframes/OPENUAS/openuas_parrot_bebop_2.xml
@@ -0,0 +1,610 @@
+
+
+
+ Parrot Bebop 2 Quadcopter (https://www.openuas.org/airframes/)
++ Airframe to validate all onboard functionally...
+ Parrot Bebop 2
+ + Autopilot: Default Parrot Bebop 2 board
+ + Actuators: Default Motors
+ + GPS: Default uBlox M8N GNSS
+ + TELEMETRY: Default WiFi
+ + CURRENT: Default Build in V/A sensing
+ + RC RX: Joystick on GCS then via Wifi (for now...)
+
+ NOTES:
+ + IF you want to fly then:
+ ++ Calibrate your magnetometer... Yes, you too...
+ ++ Yeah.. and calibrate your Accelometer also...
+
+ + Uses PAPARAZZI "standard" radio channel settings
+ + One could make a flightplan mimicing exact default behaviour of Parrot App
+ + Tested with Firmware v4.7.1, update to this Bebop 2 firmware version if not done already
+ + Can use INDI full for control
+ + Flash the PPRZ firmware via WiFi or USB
+ + Regular Telemetry is possible via USB to FTDI serial to Modem, added kernel drivers see:
+ https://wiki.paparazziuav.org/wiki/Howto.crosscompile_for_parrot_drones
+ https://wiki.paparazziuav.org/wiki/Use_the_USB_port_on_Parrot_Drones
+ + Bottom camera can used just for some mapping, not high resolution but still fun...
+ + PPRZLink v2 advised for tcas fun
+ + Theoretically an RC receiver can be added with e.g. SBus RX out via FTDI to USB if only we could set bautrate...
+ + There are no other modification, also not on the vibration absorbers. Oh yeah, it is black ;)
+ + To testfly this airframe yourself you need to:
+ ++ point to your own calibrations xml, search for 'calibration' in this document
+ ++ Make sure your drone runs firmware 4.7.1
+
+ WIP:
+ + Not all gains are tuned to optimum, feel free to enhance and a PR...
+ + The front cam is not yet fully supported with internal code
+ + Sonar needs to be put to good use
+ + SD SRTM via onboard storage not implemented (yet..)
+ + likely more, but we forgot...
+
+ Launching
+ + 1)Set TX to AUTO2 (or even switch off your TX is you dare)
+ 2) wait until props spins after a second or so
+ 3) There it goes...
+
+ Setting1:
+ + All setting a so this object is ment to fly inide a "virtual" box of 10m x 10m with RTK to the max of its envelope with no wind
+ The values are tuned so that the flight speed is limited and the drone does not over-shoot the waypoints as it would in outdoor settings.
+ Setting2:
+ + All setting a so this object is ment to fly outside to the max of its envelope unde various wind conditions
+
+
+
+
+
+
+
+
+
+
+
+
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diff --git a/conf/airframes/OPENUAS/openuas_parrot_disco.xml b/conf/airframes/OPENUAS/openuas_parrot_disco.xml
index a2b29c6a9b..aea52014ec 100644
--- a/conf/airframes/OPENUAS/openuas_parrot_disco.xml
+++ b/conf/airframes/OPENUAS/openuas_parrot_disco.xml
@@ -83,6 +83,8 @@
+
+
-
-
+
@@ -153,7 +154,7 @@
-
+
@@ -307,8 +308,8 @@
-
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+
+
@@ -341,14 +342,10 @@
-
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@@ -480,7 +477,7 @@
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@@ -493,7 +490,7 @@
-
+
@@ -501,7 +498,7 @@
-
+
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+
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+
@@ -608,18 +605,19 @@ The most crucial part for the magnetometer calibration:
-
-
+
+
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+
+
+
+
+
-
+
@@ -764,6 +762,9 @@ The most crucial part for the magnetometer calibration:
+
+
+
diff --git a/conf/airframes/OPENUAS/openuas_psi.xml b/conf/airframes/OPENUAS/openuas_psi.xml
deleted file mode 100644
index ccd3b164f3..0000000000
--- a/conf/airframes/OPENUAS/openuas_psi.xml
+++ /dev/null
@@ -1,244 +0,0 @@
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diff --git a/conf/airframes/OPENUAS/openuas_transitionrobotics_quadshot.xml b/conf/airframes/OPENUAS/openuas_transitionrobotics_quadshot.xml
new file mode 100644
index 0000000000..909644eaa5
--- /dev/null
+++ b/conf/airframes/OPENUAS/openuas_transitionrobotics_quadshot.xml
@@ -0,0 +1,758 @@
+
+
+
+ Transition robotics Quadshot (https://www.openuas.org/airframes/)
++ Airframe to validate all onboard functionally...
+ Quadshot
+ + Autopilot: Lisa MX 2.2
+ + IMU: Aspirin 2.2
+ + Motors: Default Motors
+ + Actuators: Default ESCs
+ + GPS: uBlox 6 GNSS helix antenna
+ + TELEMETRY: XBee Pro S1
+ + CURRENT: V/A sensing module
+ + RC RX: OpenRXSR on SBus port
+ + AGL ranging: TFMini the IIC(I2C) version
+
+ NOTES:
+ + Plz calibrate your magnetometer, Yes, you too ;), unit UKF auto works...
+ + And callibrate your Accelometer also...
+ + Uses PAPARAZZI "standard" radio channel settings
+ + Oh yeah, it is yellow :)
+
+ WIP:
+ + AGL min X assisted flight
+
+ RENAME servos
+ Reorganize AC order
+ Do battery set
+
+
+
+
+
+
+
+
+
+
+
+
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diff --git a/conf/userconf/OPENUAS/openuas_all_ac.xml b/conf/userconf/OPENUAS/openuas_all_ac.xml
new file mode 100644
index 0000000000..3953d5c718
--- /dev/null
+++ b/conf/userconf/OPENUAS/openuas_all_ac.xml
@@ -0,0 +1,332 @@
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diff --git a/conf/userconf/OPENUAS/openuas_conf.xml b/conf/userconf/OPENUAS/openuas_conf.xml
index 447ba2176c..ef6016ed20 100644
--- a/conf/userconf/OPENUAS/openuas_conf.xml
+++ b/conf/userconf/OPENUAS/openuas_conf.xml
@@ -1,71 +1,4 @@
-
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diff --git a/conf/userconf/OPENUAS/openuas_control_panel.xml b/conf/userconf/OPENUAS/openuas_control_panel.xml
index d2e0da1c62..1fbf7ee56a 100644
--- a/conf/userconf/OPENUAS/openuas_control_panel.xml
+++ b/conf/userconf/OPENUAS/openuas_control_panel.xml
@@ -166,7 +166,7 @@
-
+
@@ -185,7 +185,6 @@
-