mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-10 06:59:54 +08:00
Gautier Hattenberger
addc8d051c
* [cleaning] removing some old stuff - infrared sensors and related ahrs - mkk and asctec actuators - old carto modules - fix bebop actuators for NPS - clean airframe and conf * [conf] add back asctec_v2 actuators that is still being used
77 lines
2.6 KiB
XML
77 lines
2.6 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!-- this is a quadrotor frame equiped with Lisa/M -->
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<airframe name="setup_apogee">
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<firmware name="setup">
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<target name="tunnel" board="apogee_1.0"/>
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<target name="usb_tunnel" board="apogee_1.0">
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<configure name="TUNNEL_PORT" value="UART6"/>
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</target>
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<target name="setup_actuators" board="apogee_1.0">
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<module name="actuators" type="pwm"/>
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</target>
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</firmware>
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<firmware name="test_progs">
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<target name="test_manual" board="apogee_1.0"/>
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<target name="test_sys_time_timer" board="apogee_1.0"/>
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<target name="test_sys_time_usleep" board="apogee_1.0"/>
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<target name="test_telemetry" board="apogee_1.0"/>
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<target name="test_actuators_pwm" board="apogee_1.0">
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</target>
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<target name="test_actuators_pwm_sin" board="apogee_1.0">
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</target>
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<target name="test_baro_board" board="apogee_1.0">
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<module name="imu" type="apogee"/>
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<configure name="IMU_INIT" value="1"/>
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</target>
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<target name="test_imu" board="apogee_1.0">
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<module name="imu" type="apogee"/>
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</target>
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<target name="test_adc" board="apogee_1.0"/>
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<target name="test_uart" board="apogee_1.0">
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<define name="USE_UART4"/>
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<define name="UART4_BAUD" value="B57600"/>
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<define name="USE_UART6"/>
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<define name="UART6_BAUD" value="B57600"/>
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</target>
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<!-- Communication -->
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<module name="radio_control" type="ppm">
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</module>
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</firmware>
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<servos>
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<servo name="1" no="0" min="950" neutral="1500" max="2050"/>
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<servo name="2" no="1" min="950" neutral="1500" max="2050"/>
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<servo name="3" no="2" min="950" neutral="1500" max="2050"/>
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<servo name="4" no="3" min="950" neutral="1500" max="2050"/>
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<servo name="5" no="4" min="950" neutral="1500" max="2050"/>
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<servo name="6" no="5" min="950" neutral="1500" max="2050"/>
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<servo name="7" no="6" min="950" neutral="1500" max="2050"/>
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</servos>
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<commands>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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<axis name="THRUST" failsafe_value="0"/>
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<axis name="AUX5" failsafe_value="0"/>
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<axis name="AUX6" failsafe_value="0"/>
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</commands>
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<command_laws>
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<set servo="1" value="@ROLL"/>
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<set servo="2" value="@PITCH"/>
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<set servo="3" value="@YAW"/>
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<set servo="4" value="@THRUST"/>
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<set servo="5" value="@AUX5"/>
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<set servo="6" value="@AUX6"/>
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<set servo="7" value="@AUX7"/>
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</command_laws>
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</airframe>
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