mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
363dec8693
* [autopilot] refactor autopilot API for both firmwares With this, fixedwing and rotorcraft are mostly using the same interface for the autopilot. Some specific code and messages handling are still firmware dependent. A large part of the autopilot logic of the fixedwing is moved from main_ap to autopilot_static. More getter/setter functions are provided. * [autopilot] update the rest of the system and the conf for using the refactored autopilot API * [autopilot] fix some errors from CI servers * [actuators] use dummy actuators module to prevent autoloading * Rename Bart_heliDD_INDI.xml to tudelft_bs_helidd_indi.xml * Rename Bart_heliDD_pid.xml to tudelft_bs_helidd_pid.xml * Delete tudelft_course2016_bebop_colorfilter.xml * Delete tudelft_course2016_bebop_avoider.xml * [actuators] don't autoload actuators when set to 'none' * [gcs] autodetect firmware for strip mode button
60 lines
2.1 KiB
XML
60 lines
2.1 KiB
XML
<joystick>
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<input>
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<axis index="0" name="roll"/>
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<axis index="1" name="pitch"/>
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<axis index="2" name="throttle"/>
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<button index="0" name="shoot"/>
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<button index="1" name="down"/>
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<button index="2" name="up"/>
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<button index="3" name="left"/>
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<button index="4" name="right"/>
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<button index="5" name="button6"/>
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<button index="6" name="button7"/>
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<button index="7" name="button8"/>
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<button index="8" name="button9"/>
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<button index="9" name="button10"/>
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<button index="10" name="button11"/>
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</input>
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<variables>
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<var name="mode" default="0"/>
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<set var="mode" value="0" on_event="button10"/>
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<set var="mode" value="1" on_event="button11"/>
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</variables>
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<messages period="0.1">
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<!--message class="datalink" name="BOOZ2_FMS_COMMAND">
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<field name="h_mode" value="IndexOfEnum(NAV)"/>
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<field name="v_mode" value="IndexOfEnum(NAV)"/>
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<field name="v_sp" value="(up-down)*127"/>
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<field name="h_sp_1" value="0-pitch"/>
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<field name="h_sp_2" value="roll"/>
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<field name="h_sp_3" value="(right-left)*127"/>
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</message-->
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<message class="datalink" name="BOOZ_NAV_STICK">
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<field name="vx_sp" value="0-pitch"/>
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<field name="vy_sp" value="roll"/>
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<field name="vz_sp" value="(up-down)*127"/>
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<field name="r_sp" value="(right-left)*127"/>
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</message>
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<!--message class="ground" name="DL_SETTING">
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<field name="index" value="IndexOfSetting(booz2_cam_tilt_pwm)"/>
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<field name="value" value="Scale(throttle, 1000, 2000)"/>
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</message-->
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<message class="ground" name="DL_SETTING" on_event="button11 || button10">
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<field name="index" value="IndexOfSetting(autopilot.kill_throttle)"/>
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<field name="value" value="mode"/>
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</message>
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<message class="ground" name="JUMP_TO_BLOCK" on_event="shoot && button7">
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<field name="block_id" value="IndexOfBlock('land here')"/>
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</message>
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<!--message class="ground" name="JUMP_TO_BLOCK" on_event="shoot && button8">
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<field name="block_id" value="IndexOfBlock('Joystick')"/>
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</message-->
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</messages>
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</joystick>
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