diff --git a/conf/HOOPERFLY/hooperfly_conf.xml b/conf/HOOPERFLY/hooperfly_conf.xml index c838a21f70..397fdab07d 100644 --- a/conf/HOOPERFLY/hooperfly_conf.xml +++ b/conf/HOOPERFLY/hooperfly_conf.xml @@ -5,7 +5,7 @@ airframe="airframes/HOOPERFLY/hooperfly_racerpex_hexa_lisa_mx_20.xml" radio="radios/cockpitSX.xml" telemetry="telemetry/default_rotorcraft.xml" - flight_plan="flight_plans/rotorcraft_basic.xml" + flight_plan="flight_plans/HOOPERFLY/hooperfly_rotorcraft_multiflight.xml" settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml" settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/nav_survey_rectangle_rotorcraft.xml" gui_color="green" @@ -16,7 +16,7 @@ airframe="airframes/HOOPERFLY/hooperfly_racerpex_octo_lisa_mx_20.xml" radio="radios/cockpitSX.xml" telemetry="telemetry/default_rotorcraft.xml" - flight_plan="flight_plans/rotorcraft_basic.xml" + flight_plan="flight_plans/HOOPERFLY/hooperfly_rotorcraft_multiflight.xml" settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml" settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/nav_survey_rectangle_rotorcraft.xml" gui_color="yellow" @@ -27,7 +27,7 @@ airframe="airframes/HOOPERFLY/hooperfly_racerpex_quad_lisa_mx_20.xml" radio="radios/cockpitSX.xml" telemetry="telemetry/default_rotorcraft.xml" - flight_plan="flight_plans/rotorcraft_basic.xml" + flight_plan="flight_plans/HOOPERFLY/hooperfly_rotorcraft_multiflight.xml" settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml" settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/nav_survey_rectangle_rotorcraft.xml" gui_color="blue" @@ -38,7 +38,7 @@ airframe="airframes/HOOPERFLY/hooperfly_teensyfly_hexa_lisa_mx_20.xml" radio="radios/cockpitSX.xml" telemetry="telemetry/default_rotorcraft.xml" - flight_plan="flight_plans/rotorcraft_basic.xml" + flight_plan="flight_plans/HOOPERFLY/hooperfly_rotorcraft_multiflight.xml" settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml" settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/nav_survey_rectangle_rotorcraft.xml" gui_color="red" @@ -49,7 +49,7 @@ airframe="airframes/HOOPERFLY/hooperfly_teensyfly_quad_lisa_mx_20.xml" radio="radios/cockpitSX.xml" telemetry="telemetry/default_rotorcraft.xml" - flight_plan="flight_plans/rotorcraft_basic.xml" + flight_plan="flight_plans/HOOPERFLY/hooperfly_rotorcraft_multiflight.xml" settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml" settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/nav_survey_rectangle_rotorcraft.xml" gui_color="white" @@ -63,6 +63,6 @@ flight_plan="flight_plans/HOOPERFLY/hooperfly_rotorcraft_multiflight.xml" settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml" settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/nav_survey_rectangle_rotorcraft.xml" - gui_color="purple" + gui_color="cyan" /> diff --git a/conf/HOOPERFLY/hooperfly_control_panel.xml b/conf/HOOPERFLY/hooperfly_control_panel.xml new file mode 100644 index 0000000000..513a73cb92 --- /dev/null +++ b/conf/HOOPERFLY/hooperfly_control_panel.xml @@ -0,0 +1,485 @@ + +
+ + + + + + +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ \ No newline at end of file diff --git a/conf/HOOPERFLY/hooperfly_dot_bashrc b/conf/HOOPERFLY/hooperfly_dot_bashrc new file mode 100644 index 0000000000..d5acf30eec --- /dev/null +++ b/conf/HOOPERFLY/hooperfly_dot_bashrc @@ -0,0 +1,121 @@ +# -------------------------------------------------- +# HooperFly Paprarazzi Section +# -------------------------------------------------- + +# List of aircraft instances. These are the names defined in conf.xml +Aircraft=( 'Teensy_Fly_Quad_Elle0' 'Teensy_Fly_Quad' 'Teensy_Fly_Hexa' 'Racer_PEX_Quad' 'Racer_PEX_Hexa' 'Racer_PEX_Octo' ) + +# check if running on Linux or OSX +UNAME=$(uname -s) + +# OPAM configuration +if [ $UNAME == "Darwin" ]; then + . /Users/richardaburton/.opam/opam-init/init.sh > /dev/null 2> /dev/null || true +fi + + +papenv () { + cd ~/paparazzi + if [ $UNAME == "Darwin" ]; then + eval `opam config env` + fi +} + +paprun () { + papenv + ./paparazzi & +} + +papplot() { + papenv + ./sw/logalizer/logplotter & +} + +papload_tfqe () { + papenv + make AIRCRAFT=Teensy_Fly_Quad_Elle0 clean_ac FLASH_MODE=DFU-UTIL ap.upload +} + +papload_tfq () { + papenv + make AIRCRAFT=Teensy_Fly_Quad clean_ac ap.upload BMP_PORT=/dev/bmp-gdb +} + +papload_tfh () { + papenv + make AIRCRAFT=Teensy_Fly_Hexa clean_ac ap.upload BMP_PORT=/dev/bmp-gdb +} + +papload_rpq () { + papenv + make AIRCRAFT=Racer_PEX_Quad clean_ac ap.upload BMP_PORT=/dev/bmp-gdb +} + +papload_rph () { + papenv + make AIRCRAFT=Racer_PEX_Hexa clean_ac ap.upload BMP_PORT=/dev/bmp-gdb +} + +papcaba () { + papenv + python ./sw/tools/calibration/calibrate.py -s ACCEL -p ./var/logs/$1 +} + +papcabm () { + papenv + python ./sw/tools/calibration/calibrate.py -s MAG -p ./var/logs/$1 +} + +papcabc () { + papenv + python ./sw/tools/calibration/calibrate_mag_current.py ./var/logs/$1 +} + +papcomp_ap () { + papenv + for i in "${Aircraft[@]}" + do + #echo "${i}" + make AIRCRAFT=$i clean_ac ap.compile + done +} + +papcomp_nps () { + papenv + for i in "${Aircraft[@]}" + do + #echo "${i}" + make AIRCRAFT=$i clean_ac nps.compile + done +} + +papsim_start () { + papenv + ./sw/ground_segment/cockpit/gcs -layout HOOPERFLY/hooperfly_hf_6.xml & + ./sw/ground_segment/tmtc/server -n & + ./sw/ground_segment/tmtc/link -udp -udp_broadcast & + for i in "${Aircraft[@]}" + do + #echo "${i}" + ./sw/simulator/pprzsim-launch -a $i -t nps & + done +} + +papsim_stop() { + kill $(jobs -p) +} + +papfetch () { + papenv + git fetch paparazzi +} + +papmerge () { + papenv + git merge paparazzi/master +} + +pappush () { + papenv + git push origin master +} diff --git a/conf/HOOPERFLY/hooperfly_slurp.sh b/conf/HOOPERFLY/hooperfly_slurp.sh new file mode 100755 index 0000000000..b2c18e0e2c --- /dev/null +++ b/conf/HOOPERFLY/hooperfly_slurp.sh @@ -0,0 +1,7 @@ +#!/bin/bash + +cd $PAPARAZZI_HOME + +find conf -type f -name "$1*" | cpio -p -d -v $1_slurp +cp conf/conf.xml $1_slurp/conf/conf.xml.$1 +cp conf/control_panel.xml $1_slurp/conf/control_panel.xml.$1 diff --git a/conf/airframes/HOOPERFLY/hooperfly_racerpex_hexa_lisa_mx_20.xml b/conf/airframes/HOOPERFLY/hooperfly_racerpex_hexa_lisa_mx_20.xml index df0bd2513c..e6e71b524e 100644 --- a/conf/airframes/HOOPERFLY/hooperfly_racerpex_hexa_lisa_mx_20.xml +++ b/conf/airframes/HOOPERFLY/hooperfly_racerpex_hexa_lisa_mx_20.xml @@ -13,7 +13,7 @@ - + diff --git a/conf/airframes/HOOPERFLY/hooperfly_racerpex_quad_lisa_mx_20.xml b/conf/airframes/HOOPERFLY/hooperfly_racerpex_quad_lisa_mx_20.xml index 3f51b5ea48..50017157db 100644 --- a/conf/airframes/HOOPERFLY/hooperfly_racerpex_quad_lisa_mx_20.xml +++ b/conf/airframes/HOOPERFLY/hooperfly_racerpex_quad_lisa_mx_20.xml @@ -13,7 +13,7 @@ - + diff --git a/conf/airframes/HOOPERFLY/hooperfly_teensyfly_hexa_lisa_mx_20.xml b/conf/airframes/HOOPERFLY/hooperfly_teensyfly_hexa_lisa_mx_20.xml index cd4d97e00a..918f7e7d25 100644 --- a/conf/airframes/HOOPERFLY/hooperfly_teensyfly_hexa_lisa_mx_20.xml +++ b/conf/airframes/HOOPERFLY/hooperfly_teensyfly_hexa_lisa_mx_20.xml @@ -13,7 +13,7 @@ - + diff --git a/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_lisa_mx_20.xml b/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_lisa_mx_20.xml index 3013765662..35e4d78ec4 100644 --- a/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_lisa_mx_20.xml +++ b/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_lisa_mx_20.xml @@ -13,7 +13,7 @@ - + diff --git a/conf/flight_plans/HOOPERFLY/hooperfly_rotorcraft_multiflight.xml b/conf/flight_plans/HOOPERFLY/hooperfly_rotorcraft_multiflight.xml index c17de0340f..772bac3a74 100644 --- a/conf/flight_plans/HOOPERFLY/hooperfly_rotorcraft_multiflight.xml +++ b/conf/flight_plans/HOOPERFLY/hooperfly_rotorcraft_multiflight.xml @@ -91,6 +91,20 @@ + + + + + + + + + + + + + + diff --git a/conf/gcs/HOOPERFLY/hooperfly_hf_2.xml b/conf/gcs/HOOPERFLY/hooperfly_hf_2.xml new file mode 100644 index 0000000000..c071a214ad --- /dev/null +++ b/conf/gcs/HOOPERFLY/hooperfly_hf_2.xml @@ -0,0 +1,220 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/conf/gcs/HOOPERFLY/hooperfly_hf_3.xml b/conf/gcs/HOOPERFLY/hooperfly_hf_3.xml new file mode 100644 index 0000000000..407783d0ac --- /dev/null +++ b/conf/gcs/HOOPERFLY/hooperfly_hf_3.xml @@ -0,0 +1,290 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/conf/gcs/HOOPERFLY/hooperfly_hf_4.xml b/conf/gcs/HOOPERFLY/hooperfly_hf_4.xml new file mode 100644 index 0000000000..f961c29ce3 --- /dev/null +++ b/conf/gcs/HOOPERFLY/hooperfly_hf_4.xml @@ -0,0 +1,360 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/conf/gcs/HOOPERFLY/hooperfly_hf_5.xml b/conf/gcs/HOOPERFLY/hooperfly_hf_5.xml new file mode 100644 index 0000000000..b4a9ef11f3 --- /dev/null +++ b/conf/gcs/HOOPERFLY/hooperfly_hf_5.xml @@ -0,0 +1,430 @@ + + + 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/dev/null +++ b/conf/gcs/HOOPERFLY/hooperfly_hf_6.xml @@ -0,0 +1,500 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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