mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-06 16:58:48 +08:00
Allen Ibara
2a079e1a95
no longer needs to send actuators, as all users are now converted to use SendCscFromActuators() instead
55 lines
1.5 KiB
XML
55 lines
1.5 KiB
XML
<airframe name="CSCAP">
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<!-- commands section -->
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<servos>
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<servo name="AILERON" no="0" min="1000" neutral="1523" max="2000"/>
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<servo name="ELEVATOR" no="1" min="2000" neutral="1500" max="1000"/>
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<servo name="RUDDER" no="2" min="1000" neutral="1500" max="2000"/>
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</servos>
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<csc_boards>
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<board id="0">
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<msg id="SERVO_CMD_ID" type="ServoCmd">
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<field_map field="servos[0]" servo_id="SERVO_AILERON"/>
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<field_map field="servos[1]" servo_id="SERVO_ELEVATOR"/>
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<field_map field="servos[2]" servo_id="SERVO_RUDDER"/>
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</msg>
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</board>
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<!--
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<board id="1">
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<msg id="SERVO_CMD_ID" type="ServoCmd">
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<field_map field="servos[0]" servo_id="DRAG1"/>
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<field_map field="servos[1]" servo_id="DRAG2"/>
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<field_map field="servos[2]" servo_id="DRAG3""/>
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<field_map field="servos[3]" servo_id="DRAG4"/>
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</msg>
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</board>
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-->
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</csc_boards>
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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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</commands>
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<rc_commands>
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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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<command_laws>
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<set servo="ELEVATOR" value="@PITCH"/>
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<set servo="AILERON" value="@ROLL"/>
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<set servo="RUDDER" value="@YAW"/>
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</command_laws>
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<makefile>
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include $(PAPARAZZI_SRC)/conf/autopilot/pwm_input.makefile
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include $(PAPARAZZI_SRC)/conf/autopilot/csc_ap.makefile
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</makefile>
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</airframe>
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