mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-07 00:53:41 +08:00
Antoine Drouin
fa2d6026e6
replaced CONFIG with BOARD_CONFIG removed booz_geometry_xxxx (now replaced by math/pprz_trig_int and math/pprz_algebra_xxx ) moved booz/arm7 to booz/arch/lpc21 and booz/stm32 to booz/arch/stm32
69 lines
2.5 KiB
XML
69 lines
2.5 KiB
XML
<airframe name="Twisted Logic">
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<!-- tiny airframe -->
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<!-- commands section -->
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<servos>
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<servo name="AILERON" no="2" min="900" neutral="1500" max="2100"/>
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<servo name="ELEVATOR" no="1" min="900" neutral="1500" max="2100"/>
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<servo name="MOTOR_RIGHT" no="6" min="1250" neutral="1250" max="1850"/>
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<servo name="MOTOR_LEFT" no="3" min="1250" neutral="1250" max="1850"/>
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</servos>
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<commands>
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<axis name="THROTTLE" failsafe_value="0"/>
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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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</commands>
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<rc_commands>
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<set command="THROTTLE" value="@THROTTLE"/>
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<set command="ROLL" value="@ROLL"/>
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<set command="PITCH" value="@PITCH"/>
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<set command="YAW" value="@YAW"/>
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</rc_commands>
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<section name="MIXER">
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<define name="AILEVON_AILERON_RATE" value="0.8"/>
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<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
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</section>
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<command_laws>
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<let var="roll" value="1.0 * @ROLL"/>
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<let var="yawtoroll" value="0.0001 * @YAW"/>
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<let var="pitchtoroll" value="0.0001 * @PITCH"/>
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<let var="pitch" value="1.0 * @PITCH"/>
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<let var="yaw" value="0.1 * @YAW"/>
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<let var="throttle" value="1.0 * @THROTTLE"/>
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<set servo="AILERON" value="$roll"/>
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<set servo="ELEVATOR" value="$pitch"/>
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<set servo="MOTOR_LEFT" value="$throttle - $yaw - .06*$throttle"/> <!-- add trim term for Right -->
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<set servo="MOTOR_RIGHT" value="$throttle + $yaw + .06*$throttle"/> <!-- subtract trim term for Right -->
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</command_laws>
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<makefile>
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include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
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FLASH_MODE=IAP
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ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1
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ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_coax.c main.c
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ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
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ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c commands.c
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ap.CFLAGS += -DRADIO_CONTROL
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ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
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ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B19200
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ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
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ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DUSE_BARO_MS5534A
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ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c
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ap.CFLAGS += -DALT_KALMAN
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ap.srcs += estimator.c
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</makefile>
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</airframe>
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