mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-02-07 03:52:47 +08:00
4ae40567ed
- old way (based on ins_vectornav) is not supported anymore - directly send sensor data and receive commands with a dedicated link - examples with USB link for better results - update sphinx documentation - compilation in a single build
211 lines
7.1 KiB
XML
211 lines
7.1 KiB
XML
<?xml version="1.0"?>
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<control_panel name="paparazzi control panel">
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<section name="programs">
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<!-- Examples of custom configuration. -->
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<!--program name="Server" command="sw/ground_segment/tmtc/server">
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<arg flag="-b" constant="192.168.1.255:2010"/>
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</program>
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<program name="GCS" command="sw/ground_segment/cockpit/gcs" icon="gcs.svg" favorite="True">
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<arg flag="-layout" constant="large_left_col.xml"/>
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<arg flag="-osm"/>
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</program-->
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</section>
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<section name="sessions">
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<session name="Flight UDP/WiFi">
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<program name="Server"/>
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<program name="PprgGCS"/>
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<program name="Data Link">
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<arg flag="-udp"/>
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</program>
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</session>
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<session name="Flight USB-serial@9600">
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<program name="Data Link">
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<arg flag="-d" constant="/dev/ttyUSB0"/>
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</program>
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<program name="Server"/>
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<program name="PprzGCS"/>
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</session>
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<session name="Flight USB-serial@57600">
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<program name="Data Link">
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<arg flag="-d" constant="/dev/ttyUSB0"/>
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<arg flag="-s" constant="57600"/>
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</program>
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<program name="Server"/>
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<program name="PprzGCS"/>
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</session>
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<session name="Flight USB-XBee-API@57600">
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<program name="Data Link">
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<arg flag="-d" constant="/dev/paparazzi/xbee"/>
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<arg flag="-transport" constant="xbee"/>
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<arg flag="-s" constant="57600"/>
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</program>
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<program name="Server"/>
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<program name="PprzGCS"/>
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</session>
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<session name="Flight USB-serial Redundant">
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<program name="Server"/>
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<program name="PprzGCS"/>
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<program name="Data Link">
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<arg flag="-d" constant="/dev/ttyUSB0"/>
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<arg flag="-id" constant="1"/>
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<arg flag="-redlink"/>
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</program>
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<program name="Data Link">
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<arg flag="-d" constant="/dev/ttyUSB1"/>
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<arg flag="-id" constant="2"/>
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<arg flag="-redlink"/>
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</program>
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<program name="Link Combiner"/>
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</session>
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<session name="SupperBitRF">
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<program name="Data Link">
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<arg flag="-d" constant="/dev/ttyACM0"/>
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</program>
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<program name="Server"/>
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<program name="PprzGCS"/>
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<program name="Messages"/>
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</session>
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<session name="SupperBitRF cable telemetry">
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<program name="Data Link">
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<arg flag="-d" constant="/dev/ttyACM1"/>
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<arg flag="-s" constant="57600"/>
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</program>
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<program name="Server"/>
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<program name="PprzGCS"/>
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<program name="Messages"/>
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<program name="Messages"/>
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</session>
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<session name="Messages and Settings">
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<program name="Data Link">
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<arg flag="-d" constant="/dev/ttyUSB0"/>
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<arg flag="-s" constant="57600"/>
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</program>
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<program name="Server">
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<arg flag="-n"/>
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</program>
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<program name="Messages"/>
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<program name="Settings">
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<arg flag="-ac" constant="@AIRCRAFT"/>
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</program>
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</session>
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<session name="Raw Sensors">
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<program name="Data Link">
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<arg flag="-d" constant="/dev/ttyUSB0"/>
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<arg flag="-s" constant="57600"/>
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</program>
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<program name="Server">
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<arg flag="-n"/>
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</program>
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<program name="Messages">
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<arg flag="-g" constant="300x400+0-220"/>
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</program>
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<program name="Settings">
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<arg flag="-ac" constant="@AIRCRAFT"/>
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<arg flag="-g" constant="800x200+0-0"/>
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</program>
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<program name="Real-time Plotter">
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<arg flag="-g" constant="1000x250-0+0"/>
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<arg flag="-t" constant="ACC"/>
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<arg flag="-u" constant="0.05"/>
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<arg flag="-c" constant="0.00"/>
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<arg flag="-c" constant="*:telemetry:IMU_ACCEL_RAW:ax"/>
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<arg flag="-c" constant="*:telemetry:IMU_ACCEL_RAW:ay"/>
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<arg flag="-c" constant="*:telemetry:IMU_ACCEL_RAW:az"/>
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<arg flag="-n"/>
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<arg flag="-g" constant="1000x250-0+250"/>
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<arg flag="-t" constant="GYRO"/>
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<arg flag="-u" constant="0.05"/>
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<arg flag="-c" constant="0.00"/>
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<arg flag="-c" constant="*:telemetry:IMU_GYRO_RAW:gp"/>
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<arg flag="-c" constant="*:telemetry:IMU_GYRO_RAW:gq"/>
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<arg flag="-c" constant="*:telemetry:IMU_GYRO_RAW:gr"/>
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<arg flag="-n"/>
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<arg flag="-g" constant="1000x250-0+500"/>
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<arg flag="-t" constant="MAG"/>
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<arg flag="-u" constant="0.05"/>
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<arg flag="-c" constant="0.00"/>
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<arg flag="-c" constant="*:telemetry:IMU_MAG_RAW:mx"/>
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<arg flag="-c" constant="*:telemetry:IMU_MAG_RAW:my"/>
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<arg flag="-c" constant="*:telemetry:IMU_MAG_RAW:mz"/>
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<arg flag="-n"/>
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<arg flag="-g" constant="1000x250-0+750"/>
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<arg flag="-t" constant="BARO"/>
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<arg flag="-u" constant="0.05"/>
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<arg flag="-c" constant="101325.0"/>
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<arg flag="-c" constant="*:telemetry:BARO_RAW:abs"/>
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</program>
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</session>
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<session name="Scaled Sensors">
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<program name="Data Link">
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<arg flag="-d" constant="/dev/ttyUSB0"/>
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<arg flag="-s" constant="57600"/>
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</program>
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<program name="Server">
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<arg flag="-n"/>
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</program>
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<program name="Messages">
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<arg flag="-g" constant="300x400+0-220"/>
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</program>
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<program name="Settings">
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<arg flag="-ac" constant="@AIRCRAFT"/>
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<arg flag="-g" constant="800x200+0-0"/>
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</program>
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<program name="Real-time Plotter">
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<arg flag="-g" constant="1000x250-0+0"/>
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<arg flag="-t" constant="ACC"/>
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<arg flag="-u" constant="0.05"/>
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<arg flag="-c" constant="9.81"/>
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<arg flag="-c" constant="0.00"/>
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<arg flag="-c" constant="-9.81"/>
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<arg flag="-c" constant="*:telemetry:IMU_ACCEL_SCALED:ax:0.0009766"/>
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<arg flag="-c" constant="*:telemetry:IMU_ACCEL_SCALED:ay:0.0009766"/>
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<arg flag="-c" constant="*:telemetry:IMU_ACCEL_SCALED:az:0.0009766"/>
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<arg flag="-n"/>
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<arg flag="-g" constant="1000x250-0+250"/>
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<arg flag="-t" constant="GYRO"/>
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<arg flag="-u" constant="0.05"/>
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<arg flag="-c" constant="0.00"/>
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<arg flag="-c" constant="*:telemetry:IMU_GYRO_SCALED:gp:0.0139882"/>
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<arg flag="-c" constant="*:telemetry:IMU_GYRO_SCALED:gq:0.0139882"/>
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<arg flag="-c" constant="*:telemetry:IMU_GYRO_SCALED:gr:0.0139882"/>
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<arg flag="-n"/>
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<arg flag="-g" constant="1000x250-0+500"/>
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<arg flag="-t" constant="MAG"/>
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<arg flag="-u" constant="0.05"/>
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<arg flag="-c" constant="0.00"/>
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<arg flag="-c" constant="*:telemetry:IMU_MAG_SCALED:mx:0.0004883"/>
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<arg flag="-c" constant="*:telemetry:IMU_MAG_SCALED:my:0.0004883"/>
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<arg flag="-c" constant="*:telemetry:IMU_MAG_SCALED:mz:0.0004883"/>
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</program>
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</session>
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<session name="HITL demo">
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<program name="Hardware in the Loop">
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<arg flag="-a" constant="@AIRCRAFT"/>
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<arg flag="-t" constant="hitl"/>
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</program>
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<program name="Data Link">
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<arg flag="-d" constant="/dev/ttyACM1"/>
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</program>
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<program name="Server">
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<arg flag="-n"/>
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</program>
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<program name="GCS"/>
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</session>
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</section>
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</control_panel>
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