mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Antoine Drouin
181 lines
6.5 KiB
XML
181 lines
6.5 KiB
XML
<?xml version="1.0"?>
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<control_panel name="paparazzi control panel">
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<section name="variables">
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<variable name="downlink_serial_port" value="/dev/ttyUSB0"/>
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<variable name="fbw_serial_port" value="/dev/ttyS1"/>
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<variable name="ap_serial_port" value="/dev/ttyS0"/>
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<variable name="ivy_bus" value="127:2010"/>
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<variable name="map" value="muret_UTM.xml"/>
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<variable name="flight_plan" value="flight_plans/muret1.xml"/>
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</section>
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<section name="programs">
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<program name="Server" command="sw/ground_segment/tmtc/server">
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<arg flag="-b" variable="ivy_bus"/>
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</program>
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<program name="Data Link" command="sw/ground_segment/tmtc/link">
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<arg flag="-b" variable="ivy_bus"/>
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</program>
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<program name="GCS" command="sw/ground_segment/cockpit/gcs">
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<arg flag="-b" variable="ivy_bus"/>
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</program>
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<program name="Messages" command="sw/ground_segment/tmtc/messages">
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<arg flag="-b" variable="ivy_bus"/>
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</program>
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<program name="Settings" command="sw/ground_segment/tmtc/settings">
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<arg flag="-b" variable="ivy_bus"/>
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</program>
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<program name="Log Plotter" command ="sw/logalizer/plot"/>
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<program name="Real-time Plotter" command ="sw/logalizer/plotter"/>
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<program name="Log File Player" command="sw/logalizer/play">
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<arg flag="-b" variable="ivy_bus"/>
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</program>
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<program name="Simulator" command="sw/simulator/launchsitl">
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<arg flag="-b" variable="ivy_bus"/>
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</program>
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<program name="Hardware in the Loop" command="sw/simulator/simhitl">
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<arg flag="-fbw" variable="fbw_serial_port"/>
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<arg flag="-ap" variable="ap_serial_port"/>
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</program>
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<program name="Environment Simulator" command="sw/simulator/gaia">
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<arg flag="-b" variable="ivy_bus"/>
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</program>
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<program name="Http Server" command="sw/ground_segment/tmtc/boa"/>
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</section>
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<section name="sessions">
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<session name="Flight with USB-serial modem">
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<program name="Data Link">
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<arg flag="-d" constant="/dev/ttyUSB0"/>
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<arg flag="-uplink" constant=""/>
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</program>
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<program name="Server"/>
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<program name="GCS"/>
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</session>
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<session name="Flight with Maxstream@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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<arg flag="-uplink" constant=""/>
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</program>
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<program name="Server"/>
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<program name="GCS"/>
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</session>
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<session name="Booz AHRS quat">
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<program name="Messages">
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<arg flag="-c" constant="telemetry"/>
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</program>
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<program name="Real-time Plotter">
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<arg flag="-t" constant="rate : p"/>
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<arg flag="-g" constant="950x300+0+20"/>
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<arg flag="-u" constant="0.1"/>
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<arg flag="-c" constant="'*:telemetry:BOOZ_SIM_RATE_ATTITUDE:p'"/>
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<arg flag="-c" constant="'*:telemetry:IMU_GYRO:gp:57.3'"/>
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<arg flag="-c" constant="'*:telemetry:BOOZ_RATE_LOOP:est_p:57.3'"/>
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</program>
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<program name="Real-time Plotter">
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<arg flag="-t" constant="rate : q"/>
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<arg flag="-g" constant="950x300+0+320"/>
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<arg flag="-u" constant="0.1"/>
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<arg flag="-c" constant="'*:telemetry:BOOZ_SIM_RATE_ATTITUDE:q'"/>
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<arg flag="-c" constant="'*:telemetry:IMU_GYRO:gq:57.3'"/>
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<arg flag="-c" constant="'*:telemetry:BOOZ_RATE_LOOP:est_q:57.3'"/>
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</program>
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<program name="Real-time Plotter">
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<arg flag="-t" constant="rate : r"/>
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<arg flag="-g" constant="950x300+0+620"/>
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<arg flag="-u" constant="0.1"/>
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<arg flag="-c" constant="'*:telemetry:BOOZ_SIM_RATE_ATTITUDE:r'"/>
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<arg flag="-c" constant="'*:telemetry:IMU_GYRO:gr:57.3'"/>
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<arg flag="-c" constant="'*:telemetry:BOOZ_RATE_LOOP:est_r:57.3'"/>
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</program>
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<program name="Real-time Plotter">
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<arg flag="-t" constant="attitude : phi"/>
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<arg flag="-g" constant="950x300+950+20"/>
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<arg flag="-u" constant="0.1"/>
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<arg flag="-c" constant="'*:telemetry:BOOZ_SIM_RATE_ATTITUDE:phi'"/>
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<arg flag="-c" constant="'*:telemetry:BOOZ_ATT_LOOP:est_phi:57.3'"/>
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<arg flag="-c" constant="'*:telemetry:AHRS_MEASURE:phi:57.3'"/>
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</program>
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<program name="Real-time Plotter">
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<arg flag="-t" constant="attitude : theta"/>
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<arg flag="-g" constant="950x300+950+320"/>
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<arg flag="-u" constant="0.1"/>
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<arg flag="-c" constant="'*:telemetry:BOOZ_SIM_RATE_ATTITUDE:theta'"/>
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<arg flag="-c" constant="'*:telemetry:BOOZ_ATT_LOOP:est_theta:57.3'"/>
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<arg flag="-c" constant="'*:telemetry:AHRS_MEASURE:theta:57.3'"/>
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</program>
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<program name="Real-time Plotter">
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<arg flag="-t" constant="attitude : psi"/>
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<arg flag="-g" constant="950x300+950+620"/>
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<arg flag="-u" constant="0.1"/>
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<arg flag="-c" constant="'*:telemetry:BOOZ_SIM_RATE_ATTITUDE:psi'"/>
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<arg flag="-c" constant="'*:telemetry:BOOZ_ATT_LOOP:est_psi:57.3'"/>
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<arg flag="-c" constant="'*:telemetry:AHRS_MEASURE:psi:57.3'"/>
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</program>
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<program name="Real-time Plotter">
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<arg flag="-t" constant="ahrs : bp bq br"/>
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<arg flag="-g" constant="950x300+0+920"/>
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<arg flag="-u" constant="0.1"/>
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<arg flag="-c" constant="'*:telemetry:AHRS_QUAT_STATE:bp:57.3'"/>
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<arg flag="-c" constant="'*:telemetry:AHRS_QUAT_STATE:bq:57.3'"/>
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<arg flag="-c" constant="'*:telemetry:AHRS_QUAT_STATE:br:57.3'"/>
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<arg flag="-c" constant="'*:telemetry:BOOZ_SIM_GYRO_BIAS:bp'"/>
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<arg flag="-c" constant="'*:telemetry:BOOZ_SIM_GYRO_BIAS:bq'"/>
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<arg flag="-c" constant="'*:telemetry:BOOZ_SIM_GYRO_BIAS:br'"/>
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</program>
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<program name="Real-time Plotter">
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<arg flag="-t" constant="ahrs : covariances"/>
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<arg flag="-g" constant="950x300+950+920"/>
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<arg flag="-u" constant="0.1"/>
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<arg flag="-c" constant="'*:telemetry:AHRS_QUAT_COV:p_q0_q0'"/>
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<arg flag="-c" constant="'*:telemetry:AHRS_QUAT_COV:p_q1_q1'"/>
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<arg flag="-c" constant="'*:telemetry:AHRS_QUAT_COV:p_q2_q2'"/>
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<arg flag="-c" constant="'*:telemetry:AHRS_QUAT_COV:p_q3_q3'"/>
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<arg flag="-c" constant="'*:telemetry:AHRS_QUAT_COV:p_bp_bp'"/>
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<arg flag="-c" constant="'*:telemetry:AHRS_QUAT_COV:p_bq_bq'"/>
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<arg flag="-c" constant="'*:telemetry:AHRS_QUAT_COV:p_br_br'"/>
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</program>
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</session>
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</section>
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</control_panel>
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