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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_TYPE" value="XBEE"/>
<define name="DEVICE_ADDRESS" value="...."/> <define name="DEVICE_ADDRESS" value="...."/>
</section> </section>
<section name="SIMU"> <section name="SIMU">
<define name="JSBSIM_MODEL" value="&quot;Malolo1&quot;"/> <define name="JSBSIM_MODEL" value="&quot;Malolo1&quot;"/>
<define name="JSBSIM_IR_ROLL_NEUTRAL" value="RadOfDeg(0.)"/> <define name="JSBSIM_IR_ROLL_NEUTRAL" value="RadOfDeg(0.)"/>
@@ -194,7 +194,7 @@
</subsystem> </subsystem>
<subsystem name="control"/> <subsystem name="control"/>
<!-- Sensors <!-- Sensors
<subsystem name="gyro" type="roll"/> --> <subsystem name="gyro" type="roll"/> -->
<subsystem name="gps" type="ublox_utm"/> <subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/> <subsystem name="navigation"/>
conf/airframes/CDW/ChimuTinyFw.xml
+1 -1
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@@ -1,6 +1,6 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd"> <!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!-- <!--
YAPA + XSens + XBee YAPA + XSens + XBee
--> -->
conf/airframes/CDW/ChimuTinyFwSpi.xml
+1 -1
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@@ -1,6 +1,6 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd"> <!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!-- <!--
YAPA + XSens + XBee YAPA + XSens + XBee
--> -->
conf/airframes/CDW/LisaFw.xml
+6 -6
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@@ -36,7 +36,7 @@
<command_laws> <command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/> <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="MOTOR" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$aileron + $elevator"/> <set servo="AILEVON_LEFT" value="$aileron + $elevator"/>
<set servo="AILEVON_RIGHT" value="$aileron - $elevator"/> <set servo="AILEVON_RIGHT" value="$aileron - $elevator"/>
@@ -74,13 +74,13 @@
<section name="GYRO" prefix="GYRO_"> <section name="GYRO" prefix="GYRO_">
<define name="ADC_ROLL_NEUTRAL" value="520"/> <define name="ADC_ROLL_NEUTRAL" value="520"/>
<define name="ADC_TEMP_NEUTRAL" value="476"/> <define name="ADC_TEMP_NEUTRAL" value="476"/>
<define name="ADC_TEMP_SLOPE" value="0"/> <define name="ADC_TEMP_SLOPE" value="0"/>
<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/> <define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/> <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/> <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_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>
<section name="BAT"> <section name="BAT">
@@ -88,7 +88,7 @@
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/> <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section> </section>
<section name="MISC"> <section name="MISC">
<define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/> <define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/> <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
@@ -100,7 +100,7 @@
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/> <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- outer loop proportional gain --> <!-- outer loop proportional gain -->
conf/airframes/CDW/TinyFw.xml
+6 -6
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@@ -34,7 +34,7 @@
<command_laws> <command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/> <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="MOTOR" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/> <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/> <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -69,13 +69,13 @@
<section name="GYRO" prefix="GYRO_"> <section name="GYRO" prefix="GYRO_">
<define name="ADC_ROLL_NEUTRAL" value="520"/> <define name="ADC_ROLL_NEUTRAL" value="520"/>
<define name="ADC_TEMP_NEUTRAL" value="476"/> <define name="ADC_TEMP_NEUTRAL" value="476"/>
<define name="ADC_TEMP_SLOPE" value="0"/> <define name="ADC_TEMP_SLOPE" value="0"/>
<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/> <define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/> <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/> <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_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>
<section name="BAT"> <section name="BAT">
@@ -83,7 +83,7 @@
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/> <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section> </section>
<section name="MISC"> <section name="MISC">
<define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/> <define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/> <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
@@ -95,7 +95,7 @@
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/> <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- outer loop proportional gain --> <!-- outer loop proportional gain -->
conf/airframes/ENAC/fixed-wing/firestorm.xml
+10 -10
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@@ -42,7 +42,7 @@
<command_laws> <command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/> <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="MOTOR" value="@THROTTLE"/>
<set servo="HATCH" value="@HATCH"/> <set servo="HATCH" value="@HATCH"/>
<set servo="AILEVON_LEFT" value="$elevator + ($aileron > 0 ? 1 : AILERON_DIFF) * $aileron"/> <set servo="AILEVON_LEFT" value="$elevator + ($aileron > 0 ? 1 : AILERON_DIFF) * $aileron"/>
@@ -61,7 +61,7 @@
<define name="IR_NB_SAMPLES" value="16"/> <define name="IR_NB_SAMPLES" value="16"/>
<define name="GYRO_ROLL" value="ADC_3"/> <define name="GYRO_ROLL" value="ADC_3"/>
<define name="GYRO_NB_SAMPLES" value="16"/> <define name="GYRO_NB_SAMPLES" value="16"/>
</section> </section>
@@ -90,13 +90,13 @@
<section name="GYRO" prefix="GYRO_"> <section name="GYRO" prefix="GYRO_">
<define name="ADC_ROLL_NEUTRAL" value="492"/> <define name="ADC_ROLL_NEUTRAL" value="492"/>
<define name="ADC_TEMP_NEUTRAL" value="512"/> <define name="ADC_TEMP_NEUTRAL" value="512"/>
<define name="ADC_TEMP_SLOPE" value="0"/> <define name="ADC_TEMP_SLOPE" value="0"/>
<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/> <define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/> <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/> <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_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>
<section name="BAT"> <section name="BAT">
@@ -106,7 +106,7 @@
<define name="MilliAmpereOfAdc(_adc)" value="(_adc-162)*17.4"/> <define name="MilliAmpereOfAdc(_adc)" value="(_adc-162)*17.4"/>
</section> </section>
<section name="MISC"> <section name="MISC">
<define name="MINIMUM_AIRSPEED" value="13." unit="m/s"/> <define name="MINIMUM_AIRSPEED" value="13." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="16." unit="m/s"/> <define name="NOMINAL_AIRSPEED" value="16." unit="m/s"/>
@@ -120,7 +120,7 @@
<define name="UNLOCKED_HOME_MODE" value="TRUE"/> <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <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"/ -->
@@ -204,7 +204,7 @@
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/> <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/> <define name="HOME_RADIUS" value="100" unit="m"/>
</section> </section>
<makefile> <makefile>
CONFIG = \"tiny_1_1.h\" 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.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
ap.CFLAGS += -DRADIO_CONTROL 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.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.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
ap.CFLAGS += -DINTER_MCU 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.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
ap.srcs += $(SRC_ARCH)/adc_hw.c ap.srcs += $(SRC_ARCH)/adc_hw.c
conf/airframes/ENAC/fixed-wing/funjet1.xml
+11 -11
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@@ -42,7 +42,7 @@
<command_laws> <command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/> <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/> <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="MOTOR" value="@THROTTLE"/> <set servo="MOTOR" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/> <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/> <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -60,7 +60,7 @@
<define name="IR_NB_SAMPLES" value="16"/> <define name="IR_NB_SAMPLES" value="16"/>
<define name="GYRO_ROLL" value="ADC_3"/> <define name="GYRO_ROLL" value="ADC_3"/>
<define name="GYRO_NB_SAMPLES" value="16"/> <define name="GYRO_NB_SAMPLES" value="16"/>
</section> </section>
@@ -90,13 +90,13 @@
<section name="GYRO" prefix="GYRO_"> <section name="GYRO" prefix="GYRO_">
<define name="ADC_ROLL_NEUTRAL" value="520"/> <define name="ADC_ROLL_NEUTRAL" value="520"/>
<define name="ADC_TEMP_NEUTRAL" value="476"/> <define name="ADC_TEMP_NEUTRAL" value="476"/>
<define name="ADC_TEMP_SLOPE" value="0"/> <define name="ADC_TEMP_SLOPE" value="0"/>
<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/> <define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/> <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/> <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_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>
<section name="BAT"> <section name="BAT">
@@ -104,7 +104,7 @@
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/> <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section> </section>
<section name="MISC"> <section name="MISC">
<define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/> <define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/> <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
@@ -121,7 +121,7 @@
<define name="UNLOCKED_HOME_MODE" value="TRUE"/> <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <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"/ -->
@@ -241,7 +241,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
ap.CFLAGS += -DRADIO_CONTROL 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.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 #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.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.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
ap.srcs += $(SRC_ARCH)/adc_hw.c ap.srcs += $(SRC_ARCH)/adc_hw.c
@@ -290,7 +290,7 @@ ap.srcs += subsystems/navigation/nav_survey_rectangle.c
ap.CFLAGS += -DUSE_MODULES ap.CFLAGS += -DUSE_MODULES
sim.CFLAGS += -DUSE_MODULES sim.CFLAGS += -DUSE_MODULES
# for infrared # for infrared
ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 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.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 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_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/> <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_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>
<section name="BAT"> <section name="BAT">
@@ -146,7 +146,7 @@
<define name="TRIGGER_DELAY" value="1."/> <define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/> <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
+2 -2
View File
@@ -126,7 +126,7 @@
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/> <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/> <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_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>
<section name="BAT"> <section name="BAT">
@@ -144,7 +144,7 @@
<define name="TRIGGER_DELAY" value="1."/> <define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/> <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
conf/airframes/ENAC/fixed-wing/funjet2_new.xml
+2 -2
View File
@@ -126,7 +126,7 @@
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/> <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/> <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_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>
<section name="BAT"> <section name="BAT">
@@ -144,7 +144,7 @@
<define name="TRIGGER_DELAY" value="1."/> <define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/> <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <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="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/> <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="UNLOCKED_HOME_MODE" value="TRUE"/> <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
</section> </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"/> <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<!-- 0.0247311828 --> <!-- 0.0247311828 -->
<!-- 0.02432905 --> <!-- 0.02432905 -->
<define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/> <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
</section> </section>
<section name="MISC"> <section name="MISC">
<define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/> <define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/> <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
@@ -117,7 +117,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <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 --> <!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/> <define name="ALTITUDE_PGAIN" value="-0.06"/>
<!-- outer loop saturation --> <!-- 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"/> <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section> </section>
<section name="MISC"> <section name="MISC">
<define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/> <define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/> <define name="CARROT" value="5." unit="s"/>
@@ -129,7 +129,7 @@
<define name="TRIGGER_DELAY" value="1."/> <define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="50."/> <define name="DEFAULT_CIRCLE_RADIUS" value="50."/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <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 --> <!-- outer loop proportional gain -->
@@ -193,6 +193,6 @@
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/> <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/> <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
</section> </section>
</airframe> </airframe>
conf/airframes/ENAC/fixed-wing/slayer2.xml
+10 -10
View File
@@ -35,7 +35,7 @@
<command_laws> <command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/> <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="THROTTLE" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/> <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/> <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -81,11 +81,11 @@
<section name="GYRO" prefix="GYRO_"> <section name="GYRO" prefix="GYRO_">
<define name="ADC_ROLL_NEUTRAL" value="484"/> <define name="ADC_ROLL_NEUTRAL" value="484"/>
<!-- <define name="ADC_TEMP_NEUTRAL" value="476"/> <!-- <define name="ADC_TEMP_NEUTRAL" value="476"/>
<define name="ADC_TEMP_SLOPE" value="0"/> <define name="ADC_TEMP_SLOPE" value="0"/>
--> -->
<define name="ROLL_SCALE" value="1.3846"/> <define name="ROLL_SCALE" value="1.3846"/>
<define name="ROLL_DIRECTION" value="-1."/> <define name="ROLL_DIRECTION" value="-1."/>
</section> </section>
<section name="BAT"> <section name="BAT">
@@ -93,7 +93,7 @@
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/> <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="VoltageOfAdc(adc)" value="(0.0183*adc)"/> <define name="VoltageOfAdc(adc)" value="(0.0183*adc)"/>
</section> </section>
<section name="MISC"> <section name="MISC">
<define name="NOMINAL_AIRSPEED" value="20." unit="m/s"/> <define name="NOMINAL_AIRSPEED" value="20." unit="m/s"/>
<define name="MAXIMUM_AIRSPEED" value="25." unit="m/s"/> <define name="MAXIMUM_AIRSPEED" value="25." unit="m/s"/>
@@ -154,7 +154,7 @@
<define name="PITCH_DGAIN" value="0."/> <define name="PITCH_DGAIN" value="0."/>
<define name="ELEVATOR_OF_ROLL" value="1000"/> <define name="ELEVATOR_OF_ROLL" value="1000"/>
<!-- roll rate loop --> <!-- roll rate loop -->
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/> <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/> <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.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
ap.CFLAGS += -DRADIO_CONTROL 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.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 #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.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.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_ADC_6
ap.srcs += $(SRC_ARCH)/adc_hw.c 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.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.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.c
# sim.srcs += fw_h_ctl_a.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="LOW_BAT_LEVEL" value="7.0" unit="V"/>
<define name="MAX_BAT_LEVEL" value="8.4" unit="V"/> <define name="MAX_BAT_LEVEL" value="8.4" unit="V"/>
</section> </section>
<section name="MISC"> <section name="MISC">
<define name="NOMINAL_AIRSPEED" value="8." unit="m/s"/> <define name="NOMINAL_AIRSPEED" value="8." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/> <define name="CARROT" value="5." unit="s"/>
@@ -105,7 +105,7 @@
<define name="TRIGGER_DELAY" value="1."/> <define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="50."/> <define name="DEFAULT_CIRCLE_RADIUS" value="50."/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="7.4" unit="volt"/> <define name="POWER_CTL_BAT_NOMINAL" value="7.4" unit="volt"/>
@@ -147,7 +147,7 @@
<define name="PITCH_PGAIN" value="-9000."/> <define name="PITCH_PGAIN" value="-9000."/>
<define name="PITCH_DGAIN" value="1.5"/> <define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/> <define name="ELEVATOR_OF_ROLL" value="1250"/>
</section> </section>
<section name="NAV"> <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.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
ap.CFLAGS += -DRADIO_CONTROL 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.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 #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.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.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4
ap.srcs += $(SRC_ARCH)/adc_hw.c ap.srcs += $(SRC_ARCH)/adc_hw.c
conf/airframes/ENAC/fixed-wing/solarstorm.xml
+8 -8
View File
@@ -42,7 +42,7 @@
<command_laws> <command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/> <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/> <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="MOTOR" value="@THROTTLE"/> <set servo="MOTOR" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator + ($aileron > 0 ? 1 : AILERON_DIFF) * $aileron"/> <set servo="AILEVON_LEFT" value="$elevator + ($aileron > 0 ? 1 : AILERON_DIFF) * $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator - ($aileron > 0 ? AILERON_DIFF : 1) * $aileron"/> <set servo="AILEVON_RIGHT" value="$elevator - ($aileron > 0 ? AILERON_DIFF : 1) * $aileron"/>
@@ -60,7 +60,7 @@
<define name="IR_NB_SAMPLES" value="16"/> <define name="IR_NB_SAMPLES" value="16"/>
<define name="GYRO_ROLL" value="ADC_3"/> <define name="GYRO_ROLL" value="ADC_3"/>
<define name="GYRO_NB_SAMPLES" value="16"/> <define name="GYRO_NB_SAMPLES" value="16"/>
</section> </section>
@@ -93,13 +93,13 @@
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/> <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/> <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_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>
<section name="BAT"> <section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/> <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section> </section>
<section name="MISC"> <section name="MISC">
<define name="MINIMUM_AIRSPEED" value="13." unit="m/s"/> <define name="MINIMUM_AIRSPEED" value="13." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="16." unit="m/s"/> <define name="NOMINAL_AIRSPEED" value="16." unit="m/s"/>
@@ -113,7 +113,7 @@
<define name="UNLOCKED_HOME_MODE" value="TRUE"/> <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <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"/ -->
@@ -197,7 +197,7 @@
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/> <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/> <define name="HOME_RADIUS" value="100" unit="m"/>
</section> </section>
<makefile> <makefile>
CONFIG = \"tiny_1_1.h\" 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.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
ap.CFLAGS += -DRADIO_CONTROL 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.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.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
ap.CFLAGS += -DINTER_MCU 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.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
ap.srcs += $(SRC_ARCH)/adc_hw.c 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="IR_NB_SAMPLES" value="16"/>
<define name="GYRO_ROLL" value="ADC_5"/> <define name="GYRO_ROLL" value="ADC_5"/>
<define name="GYRO_NB_SAMPLES" value="16"/> <define name="GYRO_NB_SAMPLES" value="16"/>
</section> </section>
@@ -82,13 +82,13 @@
<section name="GYRO" prefix="GYRO_"> <section name="GYRO" prefix="GYRO_">
<define name="ADC_ROLL_NEUTRAL" value="490"/> <define name="ADC_ROLL_NEUTRAL" value="490"/>
<define name="ADC_TEMP_NEUTRAL" value="512"/> <define name="ADC_TEMP_NEUTRAL" value="512"/>
<define name="ADC_TEMP_SLOPE" value="0"/> <define name="ADC_TEMP_SLOPE" value="0"/>
<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/> <define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/> <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/> <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_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>
<section name="BAT"> <section name="BAT">
@@ -98,7 +98,7 @@
<define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*17.4"/> <define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*17.4"/>
</section> </section>
<section name="MISC"> <section name="MISC">
<define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/> <define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/> <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
@@ -115,7 +115,7 @@
<define name="UNLOCKED_HOME_MODE" value="TRUE"/> <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <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"/ -->
@@ -221,14 +221,14 @@ ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
ap.CFLAGS += -DRADIO_CONTROL 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_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B57600 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.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
ap.CFLAGS += -DINTER_MCU 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.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_5
ap.srcs += $(SRC_ARCH)/adc_hw.c 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 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.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 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="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*17.4"/> <define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*17.4"/>
</section> </section>
<section name="MISC"> <section name="MISC">
<define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/> <define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="15." 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="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
<define name="UNLOCKED_HOME_MODE" value="TRUE"/> <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <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"/ -->
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="CATASTROPHIC_BAT_LEVEL" value="4" unit="V"/>
<define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*17.4"/> <define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*17.4"/>
</section> </section>
<section name="MISC"> <section name="MISC">
<define name="MINIMUM_AIRSPEED" value="14." unit="m/s"/> <define name="MINIMUM_AIRSPEED" value="14." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="17." 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="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
<define name="UNLOCKED_HOME_MODE" value="TRUE"/> <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- outer loop proportional gain --> <!-- 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="CATASTROPHIC_BAT_LEVEL" value="4" unit="V"/>
<define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*18.2"/> <define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*18.2"/>
</section> </section>
<section name="MISC"> <section name="MISC">
<define name="MINIMUM_AIRSPEED" value="14." unit="m/s"/> <define name="MINIMUM_AIRSPEED" value="14." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="17." 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="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
<define name="UNLOCKED_HOME_MODE" value="TRUE"/> <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- outer loop proportional gain --> <!-- 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="MILLIAMP_AT_FULL_THROTTLE" value="8600"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/> <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section> </section>
<section name="MISC"> <section name="MISC">
<define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/> <define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="12." 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_1" value="3"/>
<define name="LIGHT_LED_2" value="5"/> <define name="LIGHT_LED_2" value="5"/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <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"/>
@@ -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.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.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c ap.srcs += inter_mcu.c
ap.srcs += commands.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.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
ap.CFLAGS += -DRADIO_CONTROL ap.CFLAGS += -DRADIO_CONTROL
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
########## Modems ########## Modems
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
@@ -288,7 +288,7 @@ ap.CFLAGS += -DUSE_LIGHT
ap.srcs += light.c ap.srcs += light.c
########## Max3100 ########## Max3100
ap.CFLAGS += -DMAX3100_BAUD_RATE=MAX3100_B9600 ap.CFLAGS += -DMAX3100_BAUD_RATE=MAX3100_B9600
ap.CFLAGS += -DGCS_NUMBER=\"+33640286530\" ap.CFLAGS += -DGCS_NUMBER=\"+33640286530\"
conf/airframes/ENAC/malolo_sim.xml
+9 -9
View File
@@ -34,7 +34,7 @@
<command_laws> <command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/> <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/> <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="MOTOR" value="@THROTTLE"/> <set servo="MOTOR" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/> <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/> <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -52,7 +52,7 @@
<define name="IR_NB_SAMPLES" value="16"/> <define name="IR_NB_SAMPLES" value="16"/>
<define name="GYRO_ROLL" value="ADC_3"/> <define name="GYRO_ROLL" value="ADC_3"/>
<define name="GYRO_NB_SAMPLES" value="16"/> <define name="GYRO_NB_SAMPLES" value="16"/>
</section> </section>
@@ -80,20 +80,20 @@
<section name="GYRO" prefix="GYRO_"> <section name="GYRO" prefix="GYRO_">
<define name="ADC_ROLL_NEUTRAL" value="520"/> <define name="ADC_ROLL_NEUTRAL" value="520"/>
<define name="ADC_TEMP_NEUTRAL" value="476"/> <define name="ADC_TEMP_NEUTRAL" value="476"/>
<define name="ADC_TEMP_SLOPE" value="0"/> <define name="ADC_TEMP_SLOPE" value="0"/>
<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/> <define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/> <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/> <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_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>
<section name="BAT"> <section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/> <define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/> <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section> </section>
<section name="MISC"> <section name="MISC">
<define name="NOMINAL_AIRSPEED" value="17." unit="m/s"/> <define name="NOMINAL_AIRSPEED" value="17." unit="m/s"/>
<define name="MINIMUM_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="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="150."/> <define name="DEFAULT_CIRCLE_RADIUS" value="150."/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <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"/>
@@ -152,7 +152,7 @@
<define name="ROLL_ATTITUDE_GAIN" value="-20000"/> <define name="ROLL_ATTITUDE_GAIN" value="-20000"/>
<define name="ROLL_RATE_GAIN" value="0"/> <define name="ROLL_RATE_GAIN" value="0"/>
<define name="ROLL_KFFP" value="-500"/> <define name="ROLL_KFFP" value="-500"/>
<define name="ROLL_KFFD" value="0"/> <define name="ROLL_KFFD" value="0"/>
<define name="ROLL_IGAIN" value="-5000"/> <define name="ROLL_IGAIN" value="-5000"/>
@@ -193,7 +193,7 @@
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/> <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/> <define name="HOME_RADIUS" value="100" unit="m"/>
</section> </section>
<!-- <!--
<section name="DATALINK" prefix="DATALINK_"> <section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="XBEE"/> <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_P_SENS" value="1.00" integer="16"/>
<define name="GYRO_Q_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="GYRO_R_SENS" value="1.00" integer="16"/>
<define name="ACCEL_X_CHAN" value="5"/> <define name="ACCEL_X_CHAN" value="5"/>
<define name="ACCEL_Y_CHAN" value="3"/> <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_X_NEUTRAL" value="32932"/>
<define name="ACCEL_Y_NEUTRAL" value="32251"/> <define name="ACCEL_Y_NEUTRAL" value="32251"/>
<define name="ACCEL_Z_NEUTRAL" value="32463"/> <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_P_SENS" value="1.00" integer="16"/>
<define name="GYRO_Q_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="GYRO_R_SENS" value="1.00" integer="16"/>
<define name="ACCEL_X_SENS" value="2.55975587" 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_Y_SENS" value="2.55643340" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.57178460" 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="ACCEL_Z_NEUTRAL" value="32140"/>
<define name="MAG_X_NEUTRAL" value="-12"/> <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_Z_NEUTRAL" value="-11"/>
<define name="MAG_X_SENS" value="22.008352" integer="16"/> <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_P_SENS" value="1.00" integer="16"/>
<define name="GYRO_Q_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="GYRO_R_SENS" value="1.00" integer="16"/>
<define name="ACCEL_X_CHAN" value="5"/> <define name="ACCEL_X_CHAN" value="5"/>
<define name="ACCEL_Y_CHAN" value="3"/> <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_X_SENS" value="2.55975587" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.55643340" 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_Z_CHAN" value="2"/>
<define name="MAG_X_NEUTRAL" value="-12"/> <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_Z_NEUTRAL" value="-11"/>
<define name="MAG_X_SENS" value="22.008352" integer="16"/> <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_P_SENS" value="1.00" integer="16"/>
<define name="GYRO_Q_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="GYRO_R_SENS" value="1.00" integer="16"/>
<define name="ACCEL_X_CHAN" value="5"/> <define name="ACCEL_X_CHAN" value="5"/>
<define name="ACCEL_Y_CHAN" value="3"/> <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_X_NEUTRAL" value="32913"/>
<define name="ACCEL_Y_NEUTRAL" value="33032"/> <define name="ACCEL_Y_NEUTRAL" value="33032"/>
@@ -80,7 +80,7 @@
<!--define name="MAG_X_NEUTRAL" value="-12"/> <!--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_Z_NEUTRAL" value="-11"/>
<define name="MAG_X_SENS" value="22.008352" integer="16"/> <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_P_SENS" value="1.00" integer="16"/>
<define name="GYRO_Q_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="GYRO_R_SENS" value="1.00" integer="16"/>
<define name="ACCEL_X_CHAN" value="5"/> <define name="ACCEL_X_CHAN" value="5"/>
<define name="ACCEL_Y_CHAN" value="3"/> <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_X_NEUTRAL" value="32913"/>
<define name="ACCEL_Y_NEUTRAL" value="33032"/> <define name="ACCEL_Y_NEUTRAL" value="33032"/>
@@ -110,7 +110,7 @@
<!--define name="MAG_X_NEUTRAL" value="-12"/> <!--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_Z_NEUTRAL" value="-11"/>
<define name="MAG_X_SENS" value="22.008352" integer="16"/> <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_P_SENS" value="1.00" integer="16"/>
<define name="GYRO_Q_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="GYRO_R_SENS" value="1.00" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="32913"/> <define name="ACCEL_X_NEUTRAL" value="32913"/>
<define name="ACCEL_Y_NEUTRAL" value="33032"/> <define name="ACCEL_Y_NEUTRAL" value="33032"/>
<define name="ACCEL_Z_NEUTRAL" value="32843"/> <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="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/> <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section> </section>
<section name="MISC"> <section name="MISC">
<define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/> <define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
<define name="CARROT" value="3." unit="s"/> <define name="CARROT" value="3." unit="s"/>
@@ -96,7 +96,7 @@
<define name="TRIGGER_DELAY" value="1."/> <define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="60."/> <define name="DEFAULT_CIRCLE_RADIUS" value="60."/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <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"/>
@@ -106,7 +106,7 @@
<define name="ALTITUDE_MAX_CLIMB" value="2."/> <define name="ALTITUDE_MAX_CLIMB" value="2."/>
<!-- auto throttle inner loop --> <!-- 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_MIN_CRUISE_THROTTLE" value="0.30"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.90"/> <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.90"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/> <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
@@ -138,7 +138,7 @@
<define name="PITCH_PGAIN" value="-12000."/> <define name="PITCH_PGAIN" value="-12000."/>
<define name="PITCH_DGAIN" value="1.5"/> <define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/> <define name="ELEVATOR_OF_ROLL" value="1250"/>
</section> </section>
<section name="NAV"> <section name="NAV">
@@ -183,7 +183,7 @@
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/> <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/> <define name="HOME_RADIUS" value="100" unit="m"/>
</section> </section>
<section name="DATALINK" prefix="DATALINK_"> <section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="XBEE"/> <define name="DEVICE_TYPE" value="XBEE"/>
<define name="DEVICE_ADDRESS" value="...."/> <define name="DEVICE_ADDRESS" value="...."/>
@@ -193,7 +193,7 @@
<section name="SIMU"> <section name="SIMU">
<define name="YAW_RESPONSE_FACTOR" value="0.5"/> <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
</section> </section>
<makefile> <makefile>
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.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.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA 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.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.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
ap.CFLAGS += -DINTER_MCU 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.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
ap.srcs += $(SRC_ARCH)/adc_hw.c ap.srcs += $(SRC_ARCH)/adc_hw.c
@@ -227,7 +227,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN
ap.srcs += infrared.c estimator.c ap.srcs += infrared.c estimator.c
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM 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 # Hack to use the same tuning file than slayer1
#�ap.CFLAGS += -DUSE_GPIO #�ap.CFLAGS += -DUSE_GPIO
@@ -250,18 +250,18 @@ ap.srcs += tcas.c
# Losange Cartography with Onboard Camera # Losange Cartography with Onboard Camera
ap.CFLAGS += -DUSE_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 # Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DFORMATION -DTRAFFIC_INFO -DTCAS 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 # Losange Cartography with Onboard Camera
sim.CFLAGS += -DUSE_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 #pour les printf de debug
sim.CFLAGS += -DDEBUG_PRINTF 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="MILLIAMP_AT_FULL_THROTTLE" value="8600"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/> <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section> </section>
<section name="MISC"> <section name="MISC">
<define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/> <define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
<define name="MINIMUM_AIRSPEED" value="8." unit="m/s"/> <define name="MINIMUM_AIRSPEED" value="8." unit="m/s"/>
@@ -130,7 +130,7 @@
<define name="TRIGGER_DELAY" value="1."/> <define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="60."/> <define name="DEFAULT_CIRCLE_RADIUS" value="60."/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <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"/>
conf/airframes/LAAS/mmlaas_N3.xml
+2 -2
View File
@@ -116,7 +116,7 @@
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8600"/> <define name="MILLIAMP_AT_FULL_THROTTLE" value="8600"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/> <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section> </section>
<section name="MISC"> <section name="MISC">
<define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/> <define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
<define name="MINIMUM_AIRSPEED" value="8." unit="m/s"/> <define name="MINIMUM_AIRSPEED" value="8." unit="m/s"/>
@@ -130,7 +130,7 @@
<define name="TRIGGER_DELAY" value="1."/> <define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="60."/> <define name="DEFAULT_CIRCLE_RADIUS" value="60."/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <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"/>
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;"/> <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section> </section>
<!-- <!--
<modules main_freq="512"> <modules main_freq="512">
<load name="vehicle_interface_overo_link.xml"/> <load name="vehicle_interface_overo_link.xml"/>
</modules> </modules>
@@ -267,7 +267,7 @@
<configure name="GPS_BAUD" value="B57600"/> <configure name="GPS_BAUD" value="B57600"/>
</subsystem> </subsystem>
<!-- <subsystem name="ahrs" type="cmpl"/> --> <!-- <subsystem name="ahrs" type="cmpl"/> -->
<subsystem name="ahrs" type="ic"/> <subsystem name="ahrs" type="ic"/>
<subsystem name="ins" type="hff"/> <subsystem name="ins" type="hff"/>
</firmware> </firmware>
conf/airframes/PPZUAV/fixed-wing/kalscott_easystar.xml
+22 -22
View File
@@ -1,35 +1,35 @@
<!DOCTYPE airframe SYSTEM "airframe.dtd"> <!DOCTYPE airframe SYSTEM "airframe.dtd">
<!-- <!--
Multiplex EasyStar, using rudder Multiplex EasyStar, using rudder
TWOG v1 board TWOG v1 board
Tilted infrared sensor Tilted infrared sensor
XBee 2.4GHz modem in transparent mode XBee 2.4GHz modem in transparent mode
--> -->
<!-- commands section --> <!-- commands section -->
<servos> <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="ELEVATOR" no="6" min="1100" neutral="1514" max="1900"/>
<servo name="RUDDER" no="7" min="2050" neutral="1612" max="950"/> <servo name="RUDDER" no="7" min="2050" neutral="1612" max="950"/>
</servos> </servos>
<commands> <commands>
<axis name="THROTTLE" failsafe_value="0"/> <axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/> <axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/> <axis name="PITCH" failsafe_value="0"/>
</commands> </commands>
<rc_commands> <rc_commands>
<set command="ROLL" value="@ROLL"/> <set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/> <set command="PITCH" value="@PITCH"/>
<set command="THROTTLE" value="@THROTTLE"/> <set command="THROTTLE" value="@THROTTLE"/>
</rc_commands> </rc_commands>
<command_laws> <command_laws>
<set servo="THROTTLE" value="@THROTTLE"/> <set servo="THROTTLE" value="@THROTTLE"/>
<set servo="RUDDER" value="@ROLL"/> <set servo="RUDDER" value="@ROLL"/>
<set servo="ELEVATOR" value="@PITCH"/> <set servo="ELEVATOR" value="@PITCH"/>
</command_laws> </command_laws>
<section name="AUTO1" prefix="AUTO1_"> <section name="AUTO1" prefix="AUTO1_">
@@ -79,12 +79,12 @@
<define name="CARROT" value="4." unit="s"/> <define name="CARROT" value="4." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(2.0*MAX_DIST_FROM_HOME)"/> <define name="KILL_MODE_DISTANCE" value="(2.0*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/> <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="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="TRIGGER_DELAY" value="1."/> <define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="90."/> <define name="DEFAULT_CIRCLE_RADIUS" value="90."/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.0" unit="volt"/> <define name="POWER_CTL_BAT_NOMINAL" value="11.0" unit="volt"/>
<!-- outer loop --> <!-- outer loop -->
@@ -142,11 +142,11 @@
<define name="DEFAULT_PITCH" value="RadOfDeg(0)" unit="rad"/> <define name="DEFAULT_PITCH" value="RadOfDeg(0)" unit="rad"/>
<define name="HOME_RADIUS" value="90" unit="m"/> <define name="HOME_RADIUS" value="90" unit="m"/>
</section> </section>
<section name="DATALINK" prefix="DATALINK_"> <section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="PPRZ"/> <define name="DEVICE_TYPE" value="PPRZ"/>
<define name="DEVICE_ADDRESS" value="...."/> <define name="DEVICE_ADDRESS" value="...."/>
</section> </section>
<makefile> <makefile>
CONFIG = \"tiny_2_1_1.h\" CONFIG = \"tiny_2_1_1.h\"
@@ -156,7 +156,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(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 = 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 ap.srcs += commands.c
@@ -167,17 +167,17 @@ ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
# Radio configuration # Radio configuration
ap.CFLAGS += -DRADIO_CONTROL 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 # 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.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.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
ap.CFLAGS += -DINTER_MCU ap.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c ap.srcs += inter_mcu.c
# ADC configuration # 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 ap.srcs += $(SRC_ARCH)/adc_hw.c
# USE_GPS configuration # USE_GPS configuration
@@ -188,8 +188,8 @@ ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN
ap.srcs += infrared.c estimator.c ap.srcs += infrared.c estimator.c
# Control loops # Control loops
ap.CFLAGS += -DNAV -DLOITER_TRIM ap.CFLAGS += -DNAV -DLOITER_TRIM
ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c 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_line.c
ap.srcs += subsystems/navigation/nav_survey_rectangle.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 # Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DLOITER_TRIM -DALT_KALMAN -DUSE_MODULES 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.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
</makefile> </makefile>
</airframe> </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_X_CHAN" value="5"/>
<define name="ACCEL_Y_CHAN" value="3"/> <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="32610"/> <define name="ACCEL_X_NEUTRAL" value="32610"/>
<define name="ACCEL_Y_NEUTRAL" value="32891"/> <define name="ACCEL_Y_NEUTRAL" value="32891"/>
<define name="ACCEL_Z_NEUTRAL" value="32373"/> <define name="ACCEL_Z_NEUTRAL" value="32373"/>
@@ -33,7 +33,7 @@
<define name="MAG_X_CHAN" value="0"/> <define name="MAG_X_CHAN" value="0"/>
<define name="MAG_Y_CHAN" value="1"/> <define name="MAG_Y_CHAN" value="1"/>
<define name="MAG_Z_CHAN" value="2"/> <define name="MAG_Z_CHAN" value="2"/>
<define name="MAG_X_NEUTRAL" value="-20"/> <define name="MAG_X_NEUTRAL" value="-20"/>
<define name="MAG_Y_NEUTRAL" value="11"/> <define name="MAG_Y_NEUTRAL" value="11"/>
<define name="MAG_Z_NEUTRAL" value="-15"/> <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"/> <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section> </section>
<section name="MISC"> <section name="MISC">
<define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/> <define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/> <define name="CARROT" value="5." unit="s"/>
@@ -97,7 +97,7 @@
<define name="TRIGGER_DELAY" value="1."/> <define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="50."/> <define name="DEFAULT_CIRCLE_RADIUS" value="50."/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <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"/>
@@ -139,7 +139,7 @@
<define name="PITCH_PGAIN" value="-9000."/> <define name="PITCH_PGAIN" value="-9000."/>
<define name="PITCH_DGAIN" value="1.5"/> <define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/> <define name="ELEVATOR_OF_ROLL" value="1250"/>
</section> </section>
<section name="NAV"> <section name="NAV">
@@ -165,7 +165,7 @@
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/> <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/> <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
</section> </section>
<section name="DATALINK" prefix="DATALINK_"> <section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="PPRZ"/> <define name="DEVICE_TYPE" value="PPRZ"/>
<define name="DEVICE_ADDRESS" value="...."/> <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.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA 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.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.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
ap.CFLAGS += -DINTER_MCU 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.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_3
ap.srcs += $(SRC_ARCH)/adc_hw.c 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.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
ant.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c 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.srcs += downlink.c pprz_transport.c
ant.CFLAGS += -DDOWNLINK_AP_DEVICE=Uart0 -DAP 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_v2x.c avr/ant_spi.c
ant.srcs += avr/ant_servo.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.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
#test_usb.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c #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.srcs += downlink.c pprz_transport.c
test_usb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DUSE_USB_SERIAL 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.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
main_stm32.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c 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 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.CFLAGS += -DUSE_DMA1_C4_IRQ
main_stm32.srcs += $(SRC_FIRMWARE)/commands.c 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 # $(SRC_BOOZ_ARCH)/actuators/actuators_asctec_arch.c
main_stm32.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1 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.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
main_coders.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c 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.srcs += downlink.c pprz_transport.c
#main_coders.CFLAGS += -DUSE_I2C2 #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=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.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.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 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.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=UdpTransport
overo_sfb.srcs += $(SRC_FMS)/udp_transport2.c downlink.c overo_sfb.srcs += $(SRC_FMS)/udp_transport2.c downlink.c
overo_sfb.srcs += $(SRC_FMS)/fms_network.c overo_sfb.srcs += $(SRC_FMS)/fms_network.c
overo_sfb.LDFLAGS += -levent overo_sfb.LDFLAGS += -levent
overo_sfb.LDFLAGS += -lm overo_sfb.LDFLAGS += -lm
overo_sfb.srcs += $(SRC_BETH)/overo_gcs_com.c 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.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1e-2)'
main.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c main.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
main.CFLAGS += -DUSE_LED main.CFLAGS += -DUSE_LED
#-DTIME_LED=1 #-DTIME_LED=1
main.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400 main.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400
main.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c 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 += downlink.c pprz_transport.c
main.srcs += $(SRC_ARCH)/bl_mc_power.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_P_SENS" value="-0.85" integer="16"/>
<define name="GYRO_Q_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="GYRO_R_SENS" value=" 0.85" integer="16"/>
<define name="ACCEL_X_SIGN" value="1"/> <define name="ACCEL_X_SIGN" value="1"/>
<define name="ACCEL_Y_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_X_CHAN" value="2"/>
<define name="ACCEL_Y_CHAN" value="5"/> <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_X_SENS" value="-6.29676358" integer="16"/>
<define name="ACCEL_Y_SENS" value="-6.07991732" 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_X_CHAN" value="0"/>
<define name="MAG_Y_CHAN" value="4"/> <define name="MAG_Y_CHAN" value="4"/>
<define name="MAG_Z_CHAN" value="2"/> <define name="MAG_Z_CHAN" value="2"/>
<define name="MAG_X_NEUTRAL" value="2339"/> <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_Z_NEUTRAL" value="1902"/>
<define name="MAG_X_SENS" value="-4.4039655" integer="16"/> <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_P_SENS" value=" 1.00" integer="16"/>
<define name="GYRO_Q_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="GYRO_R_SENS" value="-1.01" integer="16"/>
<define name="ACCEL_X_CHAN" value="5"/> <define name="ACCEL_X_CHAN" value="5"/>
<define name="ACCEL_Y_CHAN" value="3"/> <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_X_SENS" value="-2.58291748" integer="16"/>
<define name="ACCEL_Y_SENS" value="-2.53729378" 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_X_CHAN" value="4"/>
<define name="MAG_Y_CHAN" value="0"/> <define name="MAG_Y_CHAN" value="0"/>
<define name="MAG_Z_CHAN" value="2"/> <define name="MAG_Z_CHAN" value="2"/>
<define name="MAG_X_NEUTRAL" value="0"/> <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_Z_NEUTRAL" value="0"/>
<define name="MAG_X_SENS" value="20." integer="16"/> <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_Q_SENS" value=" 1.00" integer="16"/>
<define name="GYRO_R_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="GYRO_P_SENS" value="-1.01" integer="16"/>
<define name="ACCEL_Y_CHAN" value="5"/> <define name="ACCEL_Y_CHAN" value="5"/>
<define name="ACCEL_Z_CHAN" value="3"/> <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_Y_SENS" value="-2.58291748" integer="16"/>
<define name="ACCEL_Z_SENS" value="-2.53729378" 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_Y_CHAN" value="0"/>
<define name="MAG_Z_NEUTRAL" value="48"/> <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_Y_NEUTRAL" value="-45"/>
<define name="MAG_Z_SENS" value="-4.65606311" integer="16"/> <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;"/> <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section> </section>
<!-- <!--
<modules main_freq="512"> <modules main_freq="512">
<load name="vehicle_interface_overo_link.xml"/> <load name="vehicle_interface_overo_link.xml"/>
</modules> </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 name="stm_passthrough" board="lisa_l_1.0" processor="stm32" >
</target> </target>
<subsystem name="radio_control" type="spektrum"> <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\\\""/> value="\\\"subsystems/radio_control/spektrum_dx7se.h\\\""/>
</subsystem> </subsystem>
<subsystem name="imu" type="b2_v1.1"/> <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="MILLIAMP_PER_PERCENT" value="0.86"/-->
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/> <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section> </section>
<section name="MISC"> <section name="MISC">
<define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/> <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/> <define name="CARROT" value="5." unit="s"/>
@@ -127,7 +127,7 @@
<define name="PITCH_DGAIN" value="1.5"/> <define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/> <define name="ELEVATOR_OF_ROLL" value="1250"/>
<define name="ROLL_SLEW" value="0.1"/> <define name="ROLL_SLEW" value="0.1"/>
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/> <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
@@ -173,14 +173,14 @@ ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
# 41.200MHz # 41.200MHz
ap.CFLAGS += -DRADIO_CONTROL 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.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.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
ap.CFLAGS += -DINTER_MCU 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.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
ap.srcs += $(SRC_ARCH)/adc_hw.c ap.srcs += $(SRC_ARCH)/adc_hw.c
conf/airframes/Poine/fuckyou.xml
+1 -1
View File
@@ -4,7 +4,7 @@
<makefile> <makefile>
HOST=auto3 HOST=auto3
# test 1 # test 1
test42.ARCHDIR = omap test42.ARCHDIR = omap
test42.CFLAGS += -I$(ACINCLUDE) -I. -I$(PAPARAZZI_HOME)/var/include test42.CFLAGS += -I$(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.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B115200
main.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c 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.srcs += downlink.c pprz_transport.c
main.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart0 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.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
main.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c 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.srcs += downlink.c pprz_transport.c $(PT_ANT)/pt_ant_telemetry.c
main.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart0 main.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart0
@@ -48,7 +48,7 @@ main.srcs += AMI601.c i2c.c $(SRC_ARCH)/i2c_hw.c
main.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B9600 main.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B9600
#main.CFLAGS += -DUSE_GPS -DUBX -DGPS_LINK=Uart1 #main.CFLAGS += -DUSE_GPS -DUBX -DGPS_LINK=Uart1
#main.CFLAGS += -DGPS_USER_CALLBACK=pt_ant_estimator_update_self_gps -DGPS_USER_CALLBACK_HEADER=\"pt_ant_estimator.h\" #main.CFLAGS += -DGPS_USER_CALLBACK=pt_ant_estimator_update_self_gps -DGPS_USER_CALLBACK_HEADER=\"pt_ant_estimator.h\"
#main.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400 #main.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
#main.srcs += gps_ubx.c gps.c #main.srcs += gps_ubx.c gps.c
conf/airframes/Poine/test_libeknav.xml
+2 -2
View File
@@ -11,7 +11,7 @@
LIB_EIGEN_DIR = /opt/paparazzi/omap/overo-oe/tmp/sysroots/armv7a-angstrom-linux-gnueabi/usr/include/eigen2 LIB_EIGEN_DIR = /opt/paparazzi/omap/overo-oe/tmp/sysroots/armv7a-angstrom-linux-gnueabi/usr/include/eigen2
LIB_EIGEN_CFLAGS = -I$(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 \ LIBEKNAV_SRCS = fms/libeknav/basic_ins_qkf.cpp \
fms/libeknav/ins_qkf_predict.cpp \ fms/libeknav/ins_qkf_predict.cpp \
@@ -45,7 +45,7 @@
test3.srcs += fms/fms_periodic.c test3.srcs += fms/fms_periodic.c
test3.CXXFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessageVIUp -DOVERO_LINK_MSG_DOWN=AutopilotMessageVIDown test3.CXXFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessageVIUp -DOVERO_LINK_MSG_DOWN=AutopilotMessageVIDown
test3.srcs += fms/fms_spi_link.c test3.srcs += fms/fms_spi_link.c
# test 4: Flags like test3 # test 4: Flags like test3
test4.ARCHDIR = omap test4.ARCHDIR = omap
test4.CXXFLAGS += $(LIB_EIGEN_CFLAGS) test4.CXXFLAGS += $(LIB_EIGEN_CFLAGS)
conf/airframes/Poine/test_settings.xml
+1 -1
View File
@@ -1,6 +1,6 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd"> <!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!-- <!--
test settings test settings
--> -->

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