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This commit is contained in:
Antoine Drouin
2006-01-11 16:33:09 +00:00
parent f9d6a982bb
commit ffa362170b
3 changed files with 85 additions and 12 deletions
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conf/airframes/gorrazoptere_esc_3DMG_test.xml
+25 -7
View File
@@ -36,17 +36,35 @@
<loop name="roll_dot" type="P" pgain="100" measure="estimator_roll_dot" setpoint="setpoint_rolldot" output="command_roll_dot"/>
<loop name="pitch_dot" type="PD" pgain="100" dgain="200" measure="estimator_pitch_dot" setpoint="setpoint_picthdot" output="command_pitch_dot"/>
</level>
<level name="attitudes">
<loop name="roll" type="P" pgain="100" measure="estimator_roll" setpoint="setpoint_roll" output="setpoint_rolldot"/>
<loop name="pitch" type="PD" pgain="100" dgain="200" measure="estimator_pitch" setpoint="setpoint_picth" output="setpoint_pitchdot"/>
</level>
<mode name="MANUAL">
<control type="direct" input="RADIO_THROTTLE" output="COMMAND_THROTTLE"/>
<control type="P" setpoint="RADIO_ROLL" measure="estimator_roll_dot" output="COMMAND_ROLL_DOT"/>
<control type="P" setpoint="RADIO_PITCH" measure="estimator_pitch_dot" output="COMMAND_PITCH_DOT"/>
<control type="P" setpoint="RADIO_YAW" measure="estimator_yaw_dot" output="COMMAND_YAW_DOT"/>
<input input="rc_values[COMMAND_THROTTLE]" output="control_commands[RADIO_THROTTLE]"/>
<input input="rc_values[RADIO_ROLL]" output="control_setpoint_rolldot"/>
<input input="rc_values[RADIO_PITCH]" output="control_setpoint_pitchdot"/>
<input input="rc_values[RADIO_YAW]" output="control_setpoint_yawdot"/>
</mode>
<mode name="AUTO1">
<control type="direct" input="RADIO_THROTTLE" output="COMMAND_THROTTLE"/>
<control type="P" setpoint="RADIO_ROLL" measure="estimator_roll" output="setpoint_roll_dot"/>
</mode>
<input input="rc_values[COMMAND_THROTTLE]" output="control_commands[RADIO_THROTTLE]"/>
<input input="rc_values[RADIO_ROLL]" output="control_setpoint_roll"/>
<input input="rc_values[RADIO_PITCH]" output="control_setpoint_pitch"/>
<input input="rc_values[RADIO_YAW]" output="control_setpoint_yawdot"/>
</mode>
<mode name="AUTO2">
<input input="rc_values[COMMAND_THROTTLE]" output="control_commands[RADIO_THROTTLE]"/>
<input input="rc_values[RADIO_ROLL]" output="control_setpoint_roll"/>
<input input="rc_values[RADIO_PITCH]" output="control_setpoint_pitch"/>
<input input="rc_values[RADIO_YAW]" output="control_setpoint_yawdot"/>
</mode>
</control>
sw/tools/gen_control.ml
+60
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@@ -0,0 +1,60 @@
open Printf
open Xml2h
let parse_input = fun s ->
match Xml.tag s with
"input" ->
let input = ExtXml.attrib s "input"
and output = ExtXml.attrib s "output" in
printf " %s = %s;\n" output input
| _ -> ignore ()
let parse_loop = fun s ->
match Xml.tag s with
"loop" ->
let name = ExtXml.attrib s "name"
and loop_type = ExtXml.attrib s "type"
and meas = ExtXml.attrib s "type" in
printf "name %s\n" name
| _ -> ignore ()
let parse_control = fun s ->
match Xml.tag s with
"level" ->
let level_name = ExtXml.attrib s "name" in
printf "static inline void control_run_%s_loops ( void ) {\n" level_name;
List.iter parse_loop (Xml.children s);
printf "}\n";
nl();
| "mode" ->
let mode_name = ExtXml.attrib s "name" in
printf "static inline void control_process_radio_control_%s ( void ) {\n" mode_name;
List.iter parse_input (Xml.children s);
printf "}\n";
nl();
| _ -> ignore ()
let parse_section = fun s ->
match Xml.tag s with
"control" ->
List.iter parse_control (Xml.children s)
| _ -> ignore ()
let h_name = "CONTROL_H"
let _ =
if Array.length Sys.argv <> 2 then
failwith (Printf.sprintf "Usage: %s xml_file" Sys.argv.(0));
let xml_file = Sys.argv.(1) in
try
let xml = start_and_begin xml_file h_name in
List.iter parse_section (Xml.children xml);
finish h_name
with
Xml.Error e -> prerr_endline (Xml.error e)
sw/tools/gen_control.out
-5
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@@ -1,5 +0,0 @@
#! /bin/sh
if test -z "$PAPARAZZI_SRC"; then
PAPARAZZI_SRC=/usr/share/paparazzi
fi
ocaml -I $PAPARAZZI_SRC/sw/lib/ocaml ivy-ocaml.cma lib-pprz.cma $PAPARAZZI_SRC/sw/tools/gen_control.ml $*