mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-06 16:58:48 +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
175 lines
5.8 KiB
XML
175 lines
5.8 KiB
XML
<airframe name="TwistedLogic">
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<servos min="0" neutral="0" max="0xff">
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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="1810"/>
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<servo name="MOTOR_LEFT" no="3" min="1250" neutral="1250" max="1810"/>
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<servo name="CAM" no="0" min="900" neutral="1500" max="2100"/>
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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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<axis name="CAM" failsafe_value="0"/>
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</commands>
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<command_laws>
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<let var="roll" value="1.0 * @ROLL"/>
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<let var="pitch" value="1.0 * @PITCH"/>
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<let var="yaw" value="1.0 * @YAW"/>
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<let var="throttle" value="1.0 * @THROTTLE"/>
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<let var="right" value="$throttle + $yaw"/><!-- add trim term for Right -->
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<let var="left" value="$throttle - $yaw"/><!-- .06*thrsubtract trim term for Right -->
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<set servo="AILERON" value="$roll"/>
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<set servo="ELEVATOR" value="$pitch"/>
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<set servo="MOTOR_LEFT" value="$left - Max(0, $right - MAX_PPRZ)"/>
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<set servo="MOTOR_RIGHT" value="$right - Max(0, $left - MAX_PPRZ)"/>
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<set servo="CAM" value="@CAM"/>
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</command_laws>
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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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<set command="CAM" value="@GAIN1"/>
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</rc_commands>
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<section name="MICROMAG">
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<define name="MM_SS_PIN" value="20"/>
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<define name="MM_SS_IODIR" value="IO0DIR"/>
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<define name="MM_SS_IOSET" value="IO0SET"/>
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<define name="MM_SS_IOCLR" value="IO0CLR"/>
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<define name="MM_RESET_PIN" value="29"/>
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<define name="MM_RESET_IODIR" value="IO0DIR"/>
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<define name="MM_RESET_IOSET" value="IO0SET"/>
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<define name="MM_RESET_IOCLR" value="IO0CLR"/>
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<define name="MM_DRDY_PINSEL" value="PINSEL1"/>
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<define name="MM_DRDY_PINSEL_BIT" value="28"/>
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<define name="MM_DRDY_PINSEL_VAL" value="2"/>
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<define name="MM_DRDY_EINT" value="3"/>
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<define name="MM_DRDY_VIC_IT" value="VIC_EINT3"/>
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</section>
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<section name="BARO">
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<define name="TL_BARO_W1" value="0xABDC"/>
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<define name="TL_BARO_W2" value="0x849A"/>
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<define name="TL_BARO_W3" value="0X939E"/>
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<define name="TL_BARO_W4" value="0xB259"/>
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</section>
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<section name="horizontal_control">
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<define name="NAV_GOTO_H_PGAIN" value="-1000" unit="pprz/m"/>
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<define name="NAV_GOTO_H_DGAIN" value="-500" unit="pprz/m/s"/>
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</section>
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<makefile>
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ARCHI=arm7
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TL=coaxial
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FLASH_MODE = IAP
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ap.ARCHDIR = $(ARCHI)
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ap.ARCH = arm7tdmi
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ap.TARGET = flt
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ap.TARGETDIR = flt
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ap.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(16.666e-3)' -I$(TL)
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ap.srcs = $(TL)/tl_main.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
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ap.CFLAGS += -DLED -DLED -DTIME_LED=1
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ap.CFLAGS += -DADC
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ap.srcs += $(SRC_ARCH)/adc_hw.c $(TL)/tl_bat.c
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ap.srcs += commands.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
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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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# transparent
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ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600
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ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c pprz_transport.c $(TL)/tl_telemetry.c datalink.c
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ap.CFLAGS += -DTL_AP_MODE_AUTO=TL_AP_MODE_NAV -DDT_VFILTER="(1./60.)"
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ap.srcs += $(TL)/tl_autopilot.c $(TL)/tl_control.c $(TL)/tl_estimator.c $(TL)/tl_vfilter.c
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ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 -DDOWNLINK_GPS_DEVICE=DOWNLINK_AP_DEVICE -DGPS_CONFIGURE -DUSER_GPS_CONFIGURE=\"$(TL)/tl_gps_configure.h\" -DGPS_BAUD=38400
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ap.srcs += gps_ubx.c gps.c latlong.c
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ap.srcs += $(TL)/tl_imu.c
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ap.CFLAGS += -DADC -DUSE_ADC_5 -DADC_CHANNEL_GR=ADC_5 -DUSE_ADC_6 -DADC_CHANNEL_RM=ADC_6 -DUSE_ADC_7 -DADC_CHANNEL_ACCEL=ADC_7
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ap.srcs += $(TL)/tl_baro.c
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ap.srcs += micromag.c $(SRC_ARCH)/micromag_hw.c
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ap.CFLAGS += -DNAV
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ap.srcs += common_nav.c $(TL)/tl_nav.c
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#ap.CFLAGS += -D TL_BARO_W1=0xABDC -D TL_BARO_W2=0x849A -D TL_BARO_W3=0X939E -D TL_BARO_W4=0xB259
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#
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#
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#
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tmm.ARCHDIR = $(ARCHI)
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tmm.ARCH = arm7tdmi
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tmm.TARGET = tmm
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tmm.TARGETDIR = tmm
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tmm.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(16.666e-3)'
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tmm.srcs = $(TL)/tl_test_mm_main.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
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tmm.CFLAGS += -DLED -DLED -DTIME_LED=1
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tmm.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DUART0_BAUD=B57600
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tmm.srcs += downlink.c $(SRC_ARCH)/uart_hw.c pprz_transport.c
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tmm.srcs += micromag.c $(SRC_ARCH)/micromag_hw.c
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#
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#
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#
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timu.ARCHDIR = $(ARCHI)
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timu.ARCH = arm7tdmi
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timu.TARGET = timu
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timu.TARGETDIR = timu
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timu.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(16.666e-3)'
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timu.srcs = $(TL)/tl_test_imu_main.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
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timu.CFLAGS += -DLED -DLED -DTIME_LED=1
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timu.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DUART0_BAUD=B57600
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timu.srcs += downlink.c $(SRC_ARCH)/uart_hw.c pprz_transport.c
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timu.srcs += $(TL)/tl_imu.c
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timu.CFLAGS += -DADC -DUSE_ADC_5 -DADC_CHANNEL_GR=ADC_5 -DUSE_ADC_6 -DADC_CHANNEL_RM=ADC_6 -DUSE_ADC_7 -DADC_CHANNEL_ACCEL=ADC_7
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timu.srcs += $(SRC_ARCH)/adc_hw.c
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timu.srcs += $(TL)/tl_baro.c
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timu.srcs += micromag.c $(SRC_ARCH)/micromag_hw.c
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</makefile>
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</airframe>
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