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cleanup trailing whitespaces

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This commit is contained in:
Felix Ruess
2011-08-18 09:47:40 +02:00
parent 3e449008ab
commit f77fae3361
360 changed files with 2281 additions and 2281 deletions
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conf/airframes/CDW/ChimuLisaFw.xml
+3 -3
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@@ -158,8 +158,8 @@
<define name="DEVICE_TYPE" value="XBEE"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section>
<section name="SIMU">
<define name="JSBSIM_MODEL" value="&quot;Malolo1&quot;"/>
<define name="JSBSIM_IR_ROLL_NEUTRAL" value="RadOfDeg(0.)"/>
@@ -194,7 +194,7 @@
</subsystem>
<subsystem name="control"/>
<!-- Sensors
<!-- Sensors
<subsystem name="gyro" type="roll"/> -->
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/>
conf/airframes/CDW/ChimuTinyFw.xml
+1 -1
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@@ -1,6 +1,6 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
<!--
YAPA + XSens + XBee
-->
conf/airframes/CDW/ChimuTinyFwSpi.xml
+1 -1
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@@ -1,6 +1,6 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
<!--
YAPA + XSens + XBee
-->
conf/airframes/CDW/LisaFw.xml
+6 -6
View File
@@ -36,7 +36,7 @@
<command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="MOTOR" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$aileron + $elevator"/>
<set servo="AILEVON_RIGHT" value="$aileron - $elevator"/>
@@ -74,13 +74,13 @@
<section name="GYRO" prefix="GYRO_">
<define name="ADC_ROLL_NEUTRAL" value="520"/>
<define name="ADC_TEMP_NEUTRAL" value="476"/>
<define name="ADC_TEMP_SLOPE" value="0"/>
<define name="ADC_TEMP_NEUTRAL" value="476"/>
<define name="ADC_TEMP_SLOPE" value="0"/>
<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
<define name="ROLL_DIRECTION" value="-1."/>
<define name="ROLL_DIRECTION" value="-1."/>
</section>
<section name="BAT">
@@ -88,7 +88,7 @@
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="MISC">
<define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
@@ -100,7 +100,7 @@
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- outer loop proportional gain -->
conf/airframes/CDW/TinyFw.xml
+6 -6
View File
@@ -34,7 +34,7 @@
<command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="MOTOR" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -69,13 +69,13 @@
<section name="GYRO" prefix="GYRO_">
<define name="ADC_ROLL_NEUTRAL" value="520"/>
<define name="ADC_TEMP_NEUTRAL" value="476"/>
<define name="ADC_TEMP_SLOPE" value="0"/>
<define name="ADC_TEMP_NEUTRAL" value="476"/>
<define name="ADC_TEMP_SLOPE" value="0"/>
<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
<define name="ROLL_DIRECTION" value="-1."/>
<define name="ROLL_DIRECTION" value="-1."/>
</section>
<section name="BAT">
@@ -83,7 +83,7 @@
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="MISC">
<define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
@@ -95,7 +95,7 @@
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- outer loop proportional gain -->
conf/airframes/ENAC/fixed-wing/firestorm.xml
+10 -10
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@@ -42,7 +42,7 @@
<command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="MOTOR" value="@THROTTLE"/>
<set servo="HATCH" value="@HATCH"/>
<set servo="AILEVON_LEFT" value="$elevator + ($aileron > 0 ? 1 : AILERON_DIFF) * $aileron"/>
@@ -61,7 +61,7 @@
<define name="IR_NB_SAMPLES" value="16"/>
<define name="GYRO_ROLL" value="ADC_3"/>
<define name="GYRO_NB_SAMPLES" value="16"/>
<define name="GYRO_NB_SAMPLES" value="16"/>
</section>
@@ -90,13 +90,13 @@
<section name="GYRO" prefix="GYRO_">
<define name="ADC_ROLL_NEUTRAL" value="492"/>
<define name="ADC_TEMP_NEUTRAL" value="512"/>
<define name="ADC_TEMP_SLOPE" value="0"/>
<define name="ADC_TEMP_NEUTRAL" value="512"/>
<define name="ADC_TEMP_SLOPE" value="0"/>
<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
<define name="ROLL_DIRECTION" value="1."/>
<define name="ROLL_DIRECTION" value="1."/>
</section>
<section name="BAT">
@@ -106,7 +106,7 @@
<define name="MilliAmpereOfAdc(_adc)" value="(_adc-162)*17.4"/>
</section>
<section name="MISC">
<define name="MINIMUM_AIRSPEED" value="13." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="16." unit="m/s"/>
@@ -120,7 +120,7 @@
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ -->
@@ -204,7 +204,7 @@
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
<makefile>
CONFIG = \"tiny_1_1.h\"
@@ -222,13 +222,13 @@ ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
ap.CFLAGS += -DRADIO_CONTROL
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
ap.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c
ap.srcs += inter_mcu.c
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
ap.srcs += $(SRC_ARCH)/adc_hw.c
conf/airframes/ENAC/fixed-wing/funjet1.xml
+11 -11
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@@ -42,7 +42,7 @@
<command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="MOTOR" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -60,7 +60,7 @@
<define name="IR_NB_SAMPLES" value="16"/>
<define name="GYRO_ROLL" value="ADC_3"/>
<define name="GYRO_NB_SAMPLES" value="16"/>
<define name="GYRO_NB_SAMPLES" value="16"/>
</section>
@@ -90,13 +90,13 @@
<section name="GYRO" prefix="GYRO_">
<define name="ADC_ROLL_NEUTRAL" value="520"/>
<define name="ADC_TEMP_NEUTRAL" value="476"/>
<define name="ADC_TEMP_SLOPE" value="0"/>
<define name="ADC_TEMP_NEUTRAL" value="476"/>
<define name="ADC_TEMP_SLOPE" value="0"/>
<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
<define name="ROLL_DIRECTION" value="-1."/>
<define name="ROLL_DIRECTION" value="-1."/>
</section>
<section name="BAT">
@@ -104,7 +104,7 @@
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="MISC">
<define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
@@ -121,7 +121,7 @@
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ -->
@@ -241,7 +241,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
ap.CFLAGS += -DRADIO_CONTROL
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B9600
#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
@@ -252,7 +252,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transpo
ap.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c
ap.srcs += inter_mcu.c
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
ap.srcs += $(SRC_ARCH)/adc_hw.c
@@ -290,7 +290,7 @@ ap.srcs += subsystems/navigation/nav_survey_rectangle.c
ap.CFLAGS += -DUSE_MODULES
sim.CFLAGS += -DUSE_MODULES
# for infrared
# for infrared
ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150
@@ -314,7 +314,7 @@ sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_re
# a test program to setup actuators
# a test program to setup actuators
setup_actuators.ARCHDIR = $(ARCHI)
setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DUSE_LED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART1 -DUART1_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart1
conf/airframes/ENAC/fixed-wing/funjet2.xml
+2 -2
View File
@@ -128,7 +128,7 @@
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
<define name="ROLL_DIRECTION" value="1."/>
<define name="ROLL_DIRECTION" value="1."/>
</section>
<section name="BAT">
@@ -146,7 +146,7 @@
<define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
+2 -2
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@@ -126,7 +126,7 @@
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
<define name="ROLL_DIRECTION" value="1."/>
<define name="ROLL_DIRECTION" value="1."/>
</section>
<section name="BAT">
@@ -144,7 +144,7 @@
<define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
conf/airframes/ENAC/fixed-wing/funjet2_new.xml
+2 -2
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@@ -126,7 +126,7 @@
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
<define name="ROLL_DIRECTION" value="1."/>
<define name="ROLL_DIRECTION" value="1."/>
</section>
<section name="BAT">
@@ -144,7 +144,7 @@
<define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
conf/airframes/ENAC/fixed-wing/funjet3.xml
+1 -1
View File
@@ -115,7 +115,7 @@
<define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
</section>
conf/airframes/ENAC/fixed-wing/merlin.xml
+3 -3
View File
@@ -97,9 +97,9 @@
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<!-- 0.0247311828 -->
<!-- 0.02432905 -->
<define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
<define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
</section>
<section name="MISC">
<define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
@@ -117,7 +117,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/>
<!-- outer loop saturation -->
conf/airframes/ENAC/fixed-wing/minimag1.xml
+3 -3
View File
@@ -116,7 +116,7 @@
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
@@ -129,7 +129,7 @@
<define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="50."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
@@ -193,6 +193,6 @@
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
</section>
</airframe>
conf/airframes/ENAC/fixed-wing/slayer2.xml
+10 -10
View File
@@ -35,7 +35,7 @@
<command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -81,11 +81,11 @@
<section name="GYRO" prefix="GYRO_">
<define name="ADC_ROLL_NEUTRAL" value="484"/>
<!-- <define name="ADC_TEMP_NEUTRAL" value="476"/>
<define name="ADC_TEMP_SLOPE" value="0"/>
<!-- <define name="ADC_TEMP_NEUTRAL" value="476"/>
<define name="ADC_TEMP_SLOPE" value="0"/>
-->
<define name="ROLL_SCALE" value="1.3846"/>
<define name="ROLL_DIRECTION" value="-1."/>
<define name="ROLL_DIRECTION" value="-1."/>
</section>
<section name="BAT">
@@ -93,7 +93,7 @@
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="VoltageOfAdc(adc)" value="(0.0183*adc)"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="20." unit="m/s"/>
<define name="MAXIMUM_AIRSPEED" value="25." unit="m/s"/>
@@ -154,7 +154,7 @@
<define name="PITCH_DGAIN" value="0."/>
<define name="ELEVATOR_OF_ROLL" value="1000"/>
<!-- roll rate loop -->
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/>
@@ -210,7 +210,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
ap.CFLAGS += -DRADIO_CONTROL
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
#ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
@@ -225,7 +225,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transpo
ap.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c
ap.srcs += inter_mcu.c
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_ADC_6
ap.srcs += $(SRC_ARCH)/adc_hw.c
@@ -274,9 +274,9 @@ sim.ARCHDIR = $(ARCHI)
sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DUSE_BARO_MS5534A
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DUSE_BARO_MS5534A
sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c $(SRC_ARCH)/sim_baro.c
sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c $(SRC_ARCH)/sim_baro.c
sim.srcs += fw_h_ctl.c
# sim.srcs += fw_h_ctl_a.c
conf/airframes/ENAC/fixed-wing/soarzi.xml
+5 -5
View File
@@ -92,7 +92,7 @@
<define name="LOW_BAT_LEVEL" value="7.0" unit="V"/>
<define name="MAX_BAT_LEVEL" value="8.4" unit="V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="8." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
@@ -105,7 +105,7 @@
<define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="50."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="7.4" unit="volt"/>
@@ -147,7 +147,7 @@
<define name="PITCH_PGAIN" value="-9000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/>
</section>
<section name="NAV">
@@ -188,7 +188,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
ap.CFLAGS += -DRADIO_CONTROL
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
#XBEE ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
#XBEE ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
@@ -198,7 +198,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transpo
ap.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c
ap.srcs += inter_mcu.c
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4
ap.srcs += $(SRC_ARCH)/adc_hw.c
conf/airframes/ENAC/fixed-wing/solarstorm.xml
+8 -8
View File
@@ -42,7 +42,7 @@
<command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="MOTOR" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator + ($aileron > 0 ? 1 : AILERON_DIFF) * $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator - ($aileron > 0 ? AILERON_DIFF : 1) * $aileron"/>
@@ -60,7 +60,7 @@
<define name="IR_NB_SAMPLES" value="16"/>
<define name="GYRO_ROLL" value="ADC_3"/>
<define name="GYRO_NB_SAMPLES" value="16"/>
<define name="GYRO_NB_SAMPLES" value="16"/>
</section>
@@ -93,13 +93,13 @@
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
<define name="ROLL_DIRECTION" value="-1."/>
<define name="ROLL_DIRECTION" value="-1."/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="MISC">
<define name="MINIMUM_AIRSPEED" value="13." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="16." unit="m/s"/>
@@ -113,7 +113,7 @@
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ -->
@@ -197,7 +197,7 @@
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
<makefile>
CONFIG = \"tiny_1_1.h\"
@@ -215,13 +215,13 @@ ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
ap.CFLAGS += -DRADIO_CONTROL
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
ap.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c
ap.srcs += inter_mcu.c
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
ap.srcs += $(SRC_ARCH)/adc_hw.c
conf/airframes/ENAC/fixed-wing/spocII.xml
+9 -9
View File
@@ -54,7 +54,7 @@
<define name="IR_NB_SAMPLES" value="16"/>
<define name="GYRO_ROLL" value="ADC_5"/>
<define name="GYRO_NB_SAMPLES" value="16"/>
<define name="GYRO_NB_SAMPLES" value="16"/>
</section>
@@ -82,13 +82,13 @@
<section name="GYRO" prefix="GYRO_">
<define name="ADC_ROLL_NEUTRAL" value="490"/>
<define name="ADC_TEMP_NEUTRAL" value="512"/>
<define name="ADC_TEMP_SLOPE" value="0"/>
<define name="ADC_TEMP_NEUTRAL" value="512"/>
<define name="ADC_TEMP_SLOPE" value="0"/>
<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
<define name="ROLL_DIRECTION" value="(-1)"/>
<define name="ROLL_DIRECTION" value="(-1)"/>
</section>
<section name="BAT">
@@ -98,7 +98,7 @@
<define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*17.4"/>
</section>
<section name="MISC">
<define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
@@ -115,7 +115,7 @@
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ -->
@@ -221,14 +221,14 @@ ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
ap.CFLAGS += -DRADIO_CONTROL
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
#TRANSPARENT
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B57600
ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
ap.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c
ap.srcs += inter_mcu.c
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_5
ap.srcs += $(SRC_ARCH)/adc_hw.c
@@ -271,7 +271,7 @@ jsbsim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey
jsbsim.srcs += $(SIMDIR)/sim_ac_fw.c
# a test program to setup actuators
# a test program to setup actuators
setup_actuators.ARCHDIR = $(ARCHI)
setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DUSE_LED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART1 -DUART1_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart1
conf/airframes/ENAC/fixed-wing/spocIII-1.xml
+2 -2
View File
@@ -99,7 +99,7 @@
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*17.4"/>
</section>
<section name="MISC">
<define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
@@ -117,7 +117,7 @@
<define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ -->
conf/airframes/ENAC/fixed-wing/spocIII-2.xml
+2 -2
View File
@@ -103,7 +103,7 @@
<define name="CATASTROPHIC_BAT_LEVEL" value="4" unit="V"/>
<define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*17.4"/>
</section>
<section name="MISC">
<define name="MINIMUM_AIRSPEED" value="14." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="17." unit="m/s"/>
@@ -121,7 +121,7 @@
<define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- outer loop proportional gain -->
conf/airframes/ENAC/fixed-wing/spocIII-3.xml
+2 -2
View File
@@ -106,7 +106,7 @@
<define name="CATASTROPHIC_BAT_LEVEL" value="4" unit="V"/>
<define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*18.2"/>
</section>
<section name="MISC">
<define name="MINIMUM_AIRSPEED" value="14." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="17." unit="m/s"/>
@@ -124,7 +124,7 @@
<define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- outer loop proportional gain -->
conf/airframes/ENAC/fixed-wing/twinjet2.xml
+5 -5
View File
@@ -111,7 +111,7 @@
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8600"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="MISC">
<define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
@@ -126,7 +126,7 @@
<define name="LIGHT_LED_1" value="3"/>
<define name="LIGHT_LED_2" value="5"/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
@@ -229,7 +229,7 @@ ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
ap.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c
ap.srcs += inter_mcu.c
ap.srcs += commands.c
@@ -238,7 +238,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
ap.CFLAGS += -DRADIO_CONTROL
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
########## Modems
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
@@ -288,7 +288,7 @@ ap.CFLAGS += -DUSE_LIGHT
ap.srcs += light.c
########## Max3100
ap.CFLAGS += -DMAX3100_BAUD_RATE=MAX3100_B9600
ap.CFLAGS += -DMAX3100_BAUD_RATE=MAX3100_B9600
ap.CFLAGS += -DGCS_NUMBER=\"+33640286530\"
conf/airframes/ENAC/malolo_sim.xml
+9 -9
View File
@@ -34,7 +34,7 @@
<command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="MOTOR" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -52,7 +52,7 @@
<define name="IR_NB_SAMPLES" value="16"/>
<define name="GYRO_ROLL" value="ADC_3"/>
<define name="GYRO_NB_SAMPLES" value="16"/>
<define name="GYRO_NB_SAMPLES" value="16"/>
</section>
@@ -80,20 +80,20 @@
<section name="GYRO" prefix="GYRO_">
<define name="ADC_ROLL_NEUTRAL" value="520"/>
<define name="ADC_TEMP_NEUTRAL" value="476"/>
<define name="ADC_TEMP_SLOPE" value="0"/>
<define name="ADC_TEMP_NEUTRAL" value="476"/>
<define name="ADC_TEMP_SLOPE" value="0"/>
<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
<define name="ROLL_DIRECTION" value="-1."/>
<define name="ROLL_DIRECTION" value="-1."/>
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="17." unit="m/s"/>
<define name="MINIMUM_AIRSPEED" value="17." unit="m/s"/>
@@ -108,7 +108,7 @@
<define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="150."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
@@ -152,7 +152,7 @@
<define name="ROLL_ATTITUDE_GAIN" value="-20000"/>
<define name="ROLL_RATE_GAIN" value="0"/>
<define name="ROLL_KFFP" value="-500"/>
<define name="ROLL_KFFD" value="0"/>
<define name="ROLL_IGAIN" value="-5000"/>
@@ -193,7 +193,7 @@
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
<!--
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="XBEE"/>
conf/airframes/ENAC/quadrotor/blender.xml
+3 -3
View File
@@ -68,11 +68,11 @@
<define name="GYRO_P_SENS" value="1.00" integer="16"/>
<define name="GYRO_Q_SENS" value="1.00" integer="16"/>
<define name="GYRO_R_SENS" value="1.00" integer="16"/>
<define name="ACCEL_X_CHAN" value="5"/>
<define name="ACCEL_Y_CHAN" value="3"/>
<define name="ACCEL_Z_CHAN" value="4"/>
<define name="ACCEL_Z_CHAN" value="4"/>
<define name="ACCEL_X_NEUTRAL" value="32932"/>
<define name="ACCEL_Y_NEUTRAL" value="32251"/>
<define name="ACCEL_Z_NEUTRAL" value="32463"/>
conf/airframes/ENAC/quadrotor/booz2_g1.xml
+2 -2
View File
@@ -75,7 +75,7 @@
<define name="GYRO_P_SENS" value="1.00" integer="16"/>
<define name="GYRO_Q_SENS" value="1.00" integer="16"/>
<define name="GYRO_R_SENS" value="1.00" integer="16"/>
<define name="ACCEL_X_SENS" value="2.55975587" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.55643340" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.57178460" integer="16"/>
@@ -85,7 +85,7 @@
<define name="ACCEL_Z_NEUTRAL" value="32140"/>
<define name="MAG_X_NEUTRAL" value="-12"/>
<define name="MAG_Y_NEUTRAL" value="-10"/>
<define name="MAG_Y_NEUTRAL" value="-10"/>
<define name="MAG_Z_NEUTRAL" value="-11"/>
<define name="MAG_X_SENS" value="22.008352" integer="16"/>
conf/airframes/ENAC/quadrotor/g1_vision.xml
+3 -3
View File
@@ -42,10 +42,10 @@
<define name="GYRO_P_SENS" value="1.00" integer="16"/>
<define name="GYRO_Q_SENS" value="1.00" integer="16"/>
<define name="GYRO_R_SENS" value="1.00" integer="16"/>
<define name="ACCEL_X_CHAN" value="5"/>
<define name="ACCEL_Y_CHAN" value="3"/>
<define name="ACCEL_Z_CHAN" value="4"/>
<define name="ACCEL_Z_CHAN" value="4"/>
<define name="ACCEL_X_SENS" value="2.55975587" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.55643340" integer="16"/>
@@ -60,7 +60,7 @@
<define name="MAG_Z_CHAN" value="2"/>
<define name="MAG_X_NEUTRAL" value="-12"/>
<define name="MAG_Y_NEUTRAL" value="-10"/>
<define name="MAG_Y_NEUTRAL" value="-10"/>
<define name="MAG_Z_NEUTRAL" value="-11"/>
<define name="MAG_X_SENS" value="22.008352" integer="16"/>
conf/airframes/ENAC/quadrotor/mkk1-vision.xml
+3 -3
View File
@@ -53,10 +53,10 @@
<define name="GYRO_P_SENS" value="1.00" integer="16"/>
<define name="GYRO_Q_SENS" value="1.00" integer="16"/>
<define name="GYRO_R_SENS" value="1.00" integer="16"/>
<define name="ACCEL_X_CHAN" value="5"/>
<define name="ACCEL_Y_CHAN" value="3"/>
<define name="ACCEL_Z_CHAN" value="4"/>
<define name="ACCEL_Z_CHAN" value="4"/>
<define name="ACCEL_X_NEUTRAL" value="32913"/>
<define name="ACCEL_Y_NEUTRAL" value="33032"/>
@@ -80,7 +80,7 @@
<!--define name="MAG_X_NEUTRAL" value="-12"/>
<define name="MAG_Y_NEUTRAL" value="-10"/>
<define name="MAG_Y_NEUTRAL" value="-10"/>
<define name="MAG_Z_NEUTRAL" value="-11"/>
<define name="MAG_X_SENS" value="22.008352" integer="16"/>
conf/airframes/ENAC/quadrotor/mkk1.xml
+3 -3
View File
@@ -83,10 +83,10 @@
<define name="GYRO_P_SENS" value="1.00" integer="16"/>
<define name="GYRO_Q_SENS" value="1.00" integer="16"/>
<define name="GYRO_R_SENS" value="1.00" integer="16"/>
<define name="ACCEL_X_CHAN" value="5"/>
<define name="ACCEL_Y_CHAN" value="3"/>
<define name="ACCEL_Z_CHAN" value="4"/>
<define name="ACCEL_Z_CHAN" value="4"/>
<define name="ACCEL_X_NEUTRAL" value="32913"/>
<define name="ACCEL_Y_NEUTRAL" value="33032"/>
@@ -110,7 +110,7 @@
<!--define name="MAG_X_NEUTRAL" value="-12"/>
<define name="MAG_Y_NEUTRAL" value="-10"/>
<define name="MAG_Y_NEUTRAL" value="-10"/>
<define name="MAG_Z_NEUTRAL" value="-11"/>
<define name="MAG_X_SENS" value="22.008352" integer="16"/>
conf/airframes/ENAC/quadrotor/nova1.xml
+1 -1
View File
@@ -71,7 +71,7 @@
<define name="GYRO_P_SENS" value="1.00" integer="16"/>
<define name="GYRO_Q_SENS" value="1.00" integer="16"/>
<define name="GYRO_R_SENS" value="1.00" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="32913"/>
<define name="ACCEL_Y_NEUTRAL" value="33032"/>
<define name="ACCEL_Z_NEUTRAL" value="32843"/>
conf/airframes/LAAS/mmlaas_N1_carto_cam.xml
+13 -13
View File
@@ -83,7 +83,7 @@
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
<define name="CARROT" value="3." unit="s"/>
@@ -96,7 +96,7 @@
<define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="60."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
@@ -106,7 +106,7 @@
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.55"/>
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.55"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.90"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
@@ -138,7 +138,7 @@
<define name="PITCH_PGAIN" value="-12000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/>
</section>
<section name="NAV">
@@ -183,7 +183,7 @@
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="XBEE"/>
<define name="DEVICE_ADDRESS" value="...."/>
@@ -193,7 +193,7 @@
<section name="SIMU">
<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
</section>
<makefile>
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
@@ -208,13 +208,13 @@ ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B57600
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
ap.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c
ap.srcs += inter_mcu.c
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
ap.srcs += $(SRC_ARCH)/adc_hw.c
@@ -227,7 +227,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN
ap.srcs += infrared.c estimator.c
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c nav_line.c
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c nav_line.c
# Hack to use the same tuning file than slayer1
#�ap.CFLAGS += -DUSE_GPIO
@@ -250,18 +250,18 @@ ap.srcs += tcas.c
# Losange Cartography with Onboard Camera
ap.CFLAGS += -DUSE_ONBOARD_CAMERA
ap.srcs +=nav_survey_losange_carto.c
ap.srcs +=nav_survey_losange_carto.c
#################################################################################################
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DFORMATION -DTRAFFIC_INFO -DTCAS
sim.srcs += nav_survey_rectangle.c nav_line.c external.c traffic_info.c formation.c snav.c tcas.c
sim.srcs += nav_survey_rectangle.c nav_line.c external.c traffic_info.c formation.c snav.c tcas.c
# Losange Cartography with Onboard Camera
sim.CFLAGS += -DUSE_ONBOARD_CAMERA
sim.srcs += nav_survey_losange_carto.c
sim.srcs += nav_survey_losange_carto.c
#pour les printf de debug
sim.CFLAGS += -DDEBUG_PRINTF
conf/airframes/LAAS/mmlaas_N2.xml
+2 -2
View File
@@ -116,7 +116,7 @@
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8600"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
<define name="MINIMUM_AIRSPEED" value="8." unit="m/s"/>
@@ -130,7 +130,7 @@
<define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="60."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
conf/airframes/LAAS/mmlaas_N3.xml
+2 -2
View File
@@ -116,7 +116,7 @@
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8600"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
<define name="MINIMUM_AIRSPEED" value="8." unit="m/s"/>
@@ -130,7 +130,7 @@
<define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="60."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
conf/airframes/NoVa_L.xml
+2 -2
View File
@@ -236,7 +236,7 @@
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
<!--
<!--
<modules main_freq="512">
<load name="vehicle_interface_overo_link.xml"/>
</modules>
@@ -267,7 +267,7 @@
<configure name="GPS_BAUD" value="B57600"/>
</subsystem>
<!-- <subsystem name="ahrs" type="cmpl"/> -->
<subsystem name="ahrs" type="ic"/>
<subsystem name="ahrs" type="ic"/>
<subsystem name="ins" type="hff"/>
</firmware>
conf/airframes/PPZUAV/fixed-wing/kalscott_easystar.xml
+22 -22
View File
@@ -1,35 +1,35 @@
<!DOCTYPE airframe SYSTEM "airframe.dtd">
<!--
<!--
Multiplex EasyStar, using rudder
TWOG v1 board
Tilted infrared sensor
XBee 2.4GHz modem in transparent mode
XBee 2.4GHz modem in transparent mode
-->
<!-- commands section -->
<servos>
<servo name="THROTTLE" no="0" min="1120" neutral="1120" max="1920"/>
<servo name="THROTTLE" no="0" min="1120" neutral="1120" max="1920"/>
<servo name="ELEVATOR" no="6" min="1100" neutral="1514" max="1900"/>
<servo name="RUDDER" no="7" min="2050" neutral="1612" max="950"/>
</servos>
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
</commands>
<rc_commands>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="THROTTLE" value="@THROTTLE"/>
</rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
</rc_commands>
<command_laws>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="RUDDER" value="@ROLL"/>
<set servo="ELEVATOR" value="@PITCH"/>
<set servo="RUDDER" value="@ROLL"/>
<set servo="ELEVATOR" value="@PITCH"/>
</command_laws>
<section name="AUTO1" prefix="AUTO1_">
@@ -79,12 +79,12 @@
<define name="CARROT" value="4." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(2.0*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/>
<define name="NO_XBEE_API_INIT" value="TRUE"/>
<define name="NO_XBEE_API_INIT" value="TRUE"/>
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="90."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.0" unit="volt"/>
<!-- outer loop -->
@@ -142,11 +142,11 @@
<define name="DEFAULT_PITCH" value="RadOfDeg(0)" unit="rad"/>
<define name="HOME_RADIUS" value="90" unit="m"/>
</section>
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="PPRZ"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section>
</section>
<makefile>
CONFIG = \"tiny_2_1_1.h\"
@@ -156,7 +156,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 -DUSE_MODULES
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 -DUSE_MODULES
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
ap.srcs += commands.c
@@ -167,17 +167,17 @@ ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
# Radio configuration
ap.CFLAGS += -DRADIO_CONTROL
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
# Telemetry configuration
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B57600
ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
ap.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c
ap.srcs += inter_mcu.c
# ADC configuration
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
ap.srcs += $(SRC_ARCH)/adc_hw.c
# USE_GPS configuration
@@ -188,8 +188,8 @@ ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN
ap.srcs += infrared.c estimator.c
# Control loops
ap.CFLAGS += -DNAV -DLOITER_TRIM
ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
ap.CFLAGS += -DNAV -DLOITER_TRIM
ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
ap.srcs += subsystems/navigation/nav_line.c
ap.srcs += subsystems/navigation/nav_survey_rectangle.c
@@ -198,8 +198,8 @@ ap.srcs += subsystems/navigation/nav_survey_rectangle.c
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DLOITER_TRIM -DALT_KALMAN -DUSE_MODULES
sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DLOITER_TRIM -DALT_KALMAN -DUSE_MODULES
sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
</makefile>
</airframe>
conf/airframes/PPZUAV/imu-calibrations/ppzuav_booz2imu_004.xml
+2 -2
View File
@@ -21,7 +21,7 @@
<define name="ACCEL_X_CHAN" value="5"/>
<define name="ACCEL_Y_CHAN" value="3"/>
<define name="ACCEL_Z_CHAN" value="4"/>
<define name="ACCEL_X_NEUTRAL" value="32610"/>
<define name="ACCEL_Y_NEUTRAL" value="32891"/>
<define name="ACCEL_Z_NEUTRAL" value="32373"/>
@@ -33,7 +33,7 @@
<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="-20"/>
<define name="MAG_Y_NEUTRAL" value="11"/>
<define name="MAG_Z_NEUTRAL" value="-15"/>
conf/airframes/Paul/minimag1.xml
+6 -6
View File
@@ -84,7 +84,7 @@
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
@@ -97,7 +97,7 @@
<define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="50."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
@@ -139,7 +139,7 @@
<define name="PITCH_PGAIN" value="-9000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/>
</section>
<section name="NAV">
@@ -165,7 +165,7 @@
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
</section>
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="PPRZ"/>
<define name="DEVICE_ADDRESS" value="...."/>
@@ -185,13 +185,13 @@ ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B57600
ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
ap.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c
ap.srcs += inter_mcu.c
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_3
ap.srcs += $(SRC_ARCH)/adc_hw.c
conf/airframes/Poine/antenna.xml
+2 -2
View File
@@ -28,7 +28,7 @@ ant.CFLAGS += -DUSE_LED
ant.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
ant.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
ant.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
ant.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
ant.srcs += downlink.c pprz_transport.c
ant.CFLAGS += -DDOWNLINK_AP_DEVICE=Uart0 -DAP
@@ -43,7 +43,7 @@ ant.srcs += avr/ant_tracker.c
#ant.CFLAGS +=
#ant.CFLAGS +=
ant.srcs += avr/ant_v2x.c avr/ant_spi.c
ant.srcs += avr/ant_servo.c
conf/airframes/Poine/autoplato.xml
+1 -1
View File
@@ -21,7 +21,7 @@ test_usb.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
#test_usb.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
#test_usb.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
#test_usb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
#test_usb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
#test_usb.srcs += downlink.c pprz_transport.c
test_usb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DUSE_USB_SERIAL
conf/airframes/Poine/beth.xml
+5 -5
View File
@@ -115,7 +115,7 @@ main_stm32.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
main_stm32.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
main_stm32.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
main_stm32.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
main_stm32.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
main_stm32.srcs += downlink.c pprz_transport.c
@@ -143,7 +143,7 @@ main_stm32.srcs += subsystems/imu.c \
main_stm32.CFLAGS += -DUSE_DMA1_C4_IRQ
main_stm32.srcs += $(SRC_FIRMWARE)/commands.c
main_stm32.srcs += firmwares/rotorcraft/actuators/actuators_asctec.c
main_stm32.srcs += firmwares/rotorcraft/actuators/actuators_asctec.c
#\
# $(SRC_BOOZ_ARCH)/actuators/actuators_asctec_arch.c
main_stm32.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
@@ -187,7 +187,7 @@ main_coders.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
main_coders.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
main_coders.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
main_coders.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
main_coders.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
main_coders.srcs += downlink.c pprz_transport.c
#main_coders.CFLAGS += -DUSE_I2C2
@@ -260,7 +260,7 @@ overo_test_uart.srcs += $(SRC_BETH)/overo_gcs_com.c
#overo_test_uart.CFLAGS += -DUBX -DUSE_GPS -DUSE_UART0 -DUART0_BAUD=B9600 -DGPS_CONFIGURE -DGPS_BAUD=B38400 -DGPS_LINK=Uart0 -DGPS_USE_LATLONG
overo_test_uart.CFLAGS += -DUBX -DUSE_GPS -DUSE_UART0 -DUART0_BAUD=B38400 -DGPS_LINK=Uart0 -DGPS_USE_LATLONG
overo_test_uart.srcs += gps_ubx.c gps.c latlong.c $(SRC_BETH)/uart_hw.c
overo_test_uart.CFLAGS +=-DUSE_UART1 -DUART1_BAUD=B57600 -DDOWNLINK_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ
overo_test_uart.CFLAGS +=-DUSE_UART1 -DUART1_BAUD=B57600 -DDOWNLINK_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ
overo_test_uart.srcs += pprz_transport.c $(SRC_BETH)/rcv_telemetry.c
#
@@ -306,7 +306,7 @@ overo_sfb.CFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessageBethUp -DOVERO_LINK_MSG_
overo_sfb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=UdpTransport
overo_sfb.srcs += $(SRC_FMS)/udp_transport2.c downlink.c
overo_sfb.srcs += $(SRC_FMS)/fms_network.c
overo_sfb.LDFLAGS += -levent
overo_sfb.LDFLAGS += -levent
overo_sfb.LDFLAGS += -lm
overo_sfb.srcs += $(SRC_BETH)/overo_gcs_com.c
conf/airframes/Poine/bl_mc.xml
+2 -2
View File
@@ -26,13 +26,13 @@ main.srcs = main_bl_mc.c
main.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1e-2)'
main.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
main.CFLAGS += -DUSE_LED
main.CFLAGS += -DUSE_LED
#-DTIME_LED=1
main.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400
main.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
main.srcs += downlink.c pprz_transport.c
main.srcs += $(SRC_ARCH)/bl_mc_power.c
conf/airframes/Poine/booz2_a2.xml
+5 -5
View File
@@ -31,15 +31,15 @@
<define name="GYRO_P_SENS" value="-0.85" integer="16"/>
<define name="GYRO_Q_SENS" value=" 0.85" integer="16"/>
<define name="GYRO_R_SENS" value=" 0.85" integer="16"/>
<define name="ACCEL_X_SIGN" value="1"/>
<define name="ACCEL_Y_SIGN" value="1"/>
<define name="ACCEL_Z_SIGN" value="1"/>
<define name="ACCEL_Z_SIGN" value="1"/>
<define name="ACCEL_X_CHAN" value="2"/>
<define name="ACCEL_Y_CHAN" value="5"/>
<define name="ACCEL_Z_CHAN" value="6"/>
<define name="ACCEL_Z_CHAN" value="6"/>
<define name="ACCEL_X_SENS" value="-6.29676358" integer="16"/>
<define name="ACCEL_Y_SENS" value="-6.07991732" integer="16"/>
@@ -56,9 +56,9 @@
<define name="MAG_X_CHAN" value="0"/>
<define name="MAG_Y_CHAN" value="4"/>
<define name="MAG_Z_CHAN" value="2"/>
<define name="MAG_X_NEUTRAL" value="2339"/>
<define name="MAG_Y_NEUTRAL" value="2106"/>
<define name="MAG_Y_NEUTRAL" value="2106"/>
<define name="MAG_Z_NEUTRAL" value="1902"/>
<define name="MAG_X_SENS" value="-4.4039655" integer="16"/>
conf/airframes/Poine/booz2_a3.xml
+4 -4
View File
@@ -27,10 +27,10 @@
<define name="GYRO_P_SENS" value=" 1.00" integer="16"/>
<define name="GYRO_Q_SENS" value="-1.00" integer="16"/>
<define name="GYRO_R_SENS" value="-1.01" integer="16"/>
<define name="ACCEL_X_CHAN" value="5"/>
<define name="ACCEL_Y_CHAN" value="3"/>
<define name="ACCEL_Z_CHAN" value="4"/>
<define name="ACCEL_Z_CHAN" value="4"/>
<define name="ACCEL_X_SENS" value="-2.58291748" integer="16"/>
<define name="ACCEL_Y_SENS" value="-2.53729378" integer="16"/>
@@ -43,9 +43,9 @@
<define name="MAG_X_CHAN" value="4"/>
<define name="MAG_Y_CHAN" value="0"/>
<define name="MAG_Z_CHAN" value="2"/>
<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>
<define name="MAG_X_SENS" value="20." integer="16"/>
conf/airframes/Poine/booz2_a4.xml
+3 -3
View File
@@ -29,10 +29,10 @@
<define name="GYRO_Q_SENS" value=" 1.00" integer="16"/>
<define name="GYRO_R_SENS" value="-1.00" integer="16"/>
<define name="GYRO_P_SENS" value="-1.01" integer="16"/>
<define name="ACCEL_Y_CHAN" value="5"/>
<define name="ACCEL_Z_CHAN" value="3"/>
<define name="ACCEL_X_CHAN" value="4"/>
<define name="ACCEL_X_CHAN" value="4"/>
<define name="ACCEL_Y_SENS" value="-2.58291748" integer="16"/>
<define name="ACCEL_Z_SENS" value="-2.53729378" integer="16"/>
@@ -47,7 +47,7 @@
<define name="MAG_Y_CHAN" value="0"/>
<define name="MAG_Z_NEUTRAL" value="48"/>
<define name="MAG_X_NEUTRAL" value="11"/>
<define name="MAG_X_NEUTRAL" value="11"/>
<define name="MAG_Y_NEUTRAL" value="-45"/>
<define name="MAG_Z_SENS" value="-4.65606311" integer="16"/>
conf/airframes/Poine/booz2_a7.xml
+1 -1
View File
@@ -208,7 +208,7 @@
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
<!--
<!--
<modules main_freq="512">
<load name="vehicle_interface_overo_link.xml"/>
</modules>
conf/airframes/Poine/booz2_a8.xml
+1 -1
View File
@@ -193,7 +193,7 @@
<target name="stm_passthrough" board="lisa_l_1.0" processor="stm32" >
</target>
<subsystem name="radio_control" type="spektrum">
<param name="RADIO_CONTROL_SPEKTRUM_MODEL"
<param name="RADIO_CONTROL_SPEKTRUM_MODEL"
value="\\\"subsystems/radio_control/spektrum_dx7se.h\\\""/>
</subsystem>
<subsystem name="imu" type="b2_v1.1"/>
conf/airframes/Poine/easy_glider1.xml
+5 -5
View File
@@ -79,7 +79,7 @@
<!--define name="MILLIAMP_PER_PERCENT" value="0.86"/-->
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
@@ -127,7 +127,7 @@
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/>
<define name="ROLL_SLEW" value="0.1"/>
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
@@ -173,14 +173,14 @@ ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
# 41.200MHz
ap.CFLAGS += -DRADIO_CONTROL
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
# transparent
# transparent
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
ap.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c
ap.srcs += inter_mcu.c
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
ap.srcs += $(SRC_ARCH)/adc_hw.c
conf/airframes/Poine/fuckyou.xml
+1 -1
View File
@@ -4,7 +4,7 @@
<makefile>
HOST=auto3
# test 1
test42.ARCHDIR = omap
test42.CFLAGS += -I$(ACINCLUDE) -I. -I$(PAPARAZZI_HOME)/var/include
conf/airframes/Poine/motor_bench.xml
+1 -1
View File
@@ -24,7 +24,7 @@ main.srcs += $(SRC_ARCH)/armVIC.c
main.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B115200
main.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
main.srcs += downlink.c pprz_transport.c
main.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart0
conf/airframes/Poine/pt_ant.xml
+2 -2
View File
@@ -33,7 +33,7 @@ main.srcs += $(SRC_ARCH)/armVIC.c
main.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
main.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
main.srcs += downlink.c pprz_transport.c $(PT_ANT)/pt_ant_telemetry.c
main.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart0
@@ -48,7 +48,7 @@ main.srcs += AMI601.c i2c.c $(SRC_ARCH)/i2c_hw.c
main.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B9600
#main.CFLAGS += -DUSE_GPS -DUBX -DGPS_LINK=Uart1
#main.CFLAGS += -DGPS_USER_CALLBACK=pt_ant_estimator_update_self_gps -DGPS_USER_CALLBACK_HEADER=\"pt_ant_estimator.h\"
#main.CFLAGS += -DGPS_USER_CALLBACK=pt_ant_estimator_update_self_gps -DGPS_USER_CALLBACK_HEADER=\"pt_ant_estimator.h\"
#main.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
#main.srcs += gps_ubx.c gps.c
conf/airframes/Poine/test_libeknav.xml
+2 -2
View File
@@ -11,7 +11,7 @@
LIB_EIGEN_DIR = /opt/paparazzi/omap/overo-oe/tmp/sysroots/armv7a-angstrom-linux-gnueabi/usr/include/eigen2
LIB_EIGEN_CFLAGS = -I$(LIB_EIGEN_DIR) -DEIGEN_DONT_VECTORIZE -DEIGEN_DONT_ALIGN -DNDEBUG
LIB_EIGEN_CFLAGS = -I$(LIB_EIGEN_DIR) -DEIGEN_DONT_VECTORIZE -DEIGEN_DONT_ALIGN -DNDEBUG
LIBEKNAV_SRCS = fms/libeknav/basic_ins_qkf.cpp \
fms/libeknav/ins_qkf_predict.cpp \
@@ -45,7 +45,7 @@
test3.srcs += fms/fms_periodic.c
test3.CXXFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessageVIUp -DOVERO_LINK_MSG_DOWN=AutopilotMessageVIDown
test3.srcs += fms/fms_spi_link.c
# test 4: Flags like test3
test4.ARCHDIR = omap
test4.CXXFLAGS += $(LIB_EIGEN_CFLAGS)
conf/airframes/Poine/test_settings.xml
+1 -1
View File
@@ -1,6 +1,6 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
<!--
test settings
-->

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