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update airframe

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This commit is contained in:
Gautier Hattenberger
2011-01-13 16:03:07 +01:00
parent 45df8092b6
commit f61014a2a8
1 changed files with 9 additions and 17 deletions
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conf/airframes/ENAC/quadrotor/booz2_g1.xml
+9 -17
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@@ -1,6 +1,7 @@
<airframe name="BOOZ2_G1"> <airframe name="BOOZ2_G1">
<modules main_freq="512"> <modules main_freq="512">
<!--load name="booz_pwm.xml"/-->
<!--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"/--> <!--load name="sonar_maxbotix_booz.xml"/-->
@@ -9,13 +10,21 @@
</modules> </modules>
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<define name="USE_INS_NAV_INIT"/>
<define name="USE_ADAPT_HOVER"/>
<define name="NO_FUCKING_STARTUP_DELAY"/>
<!--define name="GUIDANCE_H_USE_REF"/-->
<target name="ap" board="booz_1.0"> <target name="ap" board="booz_1.0">
<define name="BOOZ_FAILSAFE_GROUND_DETECT"/> <define name="BOOZ_FAILSAFE_GROUND_DETECT"/>
<define name="USE_GPS_ACC4R"/> <define name="USE_GPS_ACC4R"/>
<define name="BOOZ_START_DELAY" value="3"/>
</target> </target>
<target name="sim" board="pc"> <target name="sim" board="pc">
<subsystem name="fdm" type="nps"/> <subsystem name="fdm" type="nps"/>
<!--define name="NPS_NO_SUPERVISION"/-->
</target> </target>
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="asctec"/> <subsystem name="actuators" type="asctec"/>
<subsystem name="imu" type="b2_v1.1"/> <subsystem name="imu" type="b2_v1.1"/>
@@ -220,21 +229,4 @@
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/> <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section> </section>
<makefile location="after">
ap.CFLAGS += -DGUIDANCE_H_USE_REF
ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c
sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\"
sim.CFLAGS += -DNPS_NO_SUPERVISION
sim.CFLAGS += -DGUIDANCE_H_USE_REF
sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
sim.srcs += $(SRC_BOOZ_SIM)/booz2_pwm_hw.c
</makefile>
</airframe> </airframe>