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[paparazzi-commits] [6397] set common defines for all targets of fixedwi
|
From: |
Felix Ruess |
|
Subject: |
[paparazzi-commits] [6397] set common defines for all targets of fixedwing firmware in example airframes |
|
Date: |
Thu, 11 Nov 2010 15:15:12 +0000 |
Revision: 6397
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6397
Author: flixr
Date: 2010-11-11 15:15:11 +0000 (Thu, 11 Nov 2010)
Log Message:
-----------
set common defines for all targets of fixedwing firmware in example airframes
Modified Paths:
--------------
paparazzi-software/trunk/conf/airframes/booz2_flixr.xml
paparazzi-software/trunk/conf/airframes/easy_glider_example.xml
paparazzi-software/trunk/conf/airframes/easystar_ets_example.xml
paparazzi-software/trunk/conf/airframes/funjet_cam_example.xml
paparazzi-software/trunk/conf/airframes/funjet_example.xml
paparazzi-software/trunk/conf/airframes/mentor_tum.xml
paparazzi-software/trunk/conf/airframes/microjet_example.xml
paparazzi-software/trunk/conf/airframes/microjet_raw_makefile.xml
paparazzi-software/trunk/conf/airframes/twinjet_example.xml
paparazzi-software/trunk/conf/airframes/twinjet_overo.xml
paparazzi-software/trunk/conf/airframes/twinstar_example.xml
Modified: paparazzi-software/trunk/conf/airframes/booz2_flixr.xml
===================================================================
--- paparazzi-software/trunk/conf/airframes/booz2_flixr.xml 2010-11-11
11:00:32 UTC (rev 6396)
+++ paparazzi-software/trunk/conf/airframes/booz2_flixr.xml 2010-11-11
15:15:11 UTC (rev 6397)
@@ -1,5 +1,36 @@
<airframe name="BOOZ2_F1">
+ <firmware name="rotorcraft">
+ <target name="ap" board="booz_1.0">
+ <!--<define name="KILL_MOTORS"/>--> <!-- prevent motors from ever
starting -->
+ <!--<define name="RADIO_CONTROL_KILL_SWITCH"
value="RADIO_CONTROL_SWITCH1"/>-->
+ <define name="USE_GPS_ACC4R"/>
+ <define name="USE_INS_NAV_INIT"/>
+ </target>
+
+ <target name="sim" board="pc">
+ <subsystem name="fdm" type="nps"/>
+ </target>
+
+ <define name="USE_ADAPT_HOVER"/>
+ <define name="GUIDANCE_H_USE_REF"/>
+
+ <subsystem name="radio_control" type="ppm"/>
+ <subsystem name="actuators" type="mkk"/>
+ <subsystem name="imu" type="b2_v1.0"/>
+ <subsystem name="gps" type="ublox"/>
+ <subsystem name="ahrs" type="cmpl"/>
+ <subsystem name="ins" type="hff">
+ <define name="GPS_LAG=0.2"/>
+ </subsystem>
+ </firmware>
+
+ <firmware name="booz_test_progs">
+ <target name="test_telemetry" board="booz_1.0"/>
+ <target name="test_baro" board="booz_1.0"/>
+ <target name="test_spektrum" board="booz_1.0"/>
+ </firmware>
+
<modules main_freq="512">
<load name="booz_drop.xml"/>
<load name="sys_mon.xml"/>
@@ -219,39 +250,6 @@
#empty
</makefile>
-
- <firmware name="rotorcraft">
- <target name="ap" board="booz_1.0">
- <param name="FLASH_MODE" value="IAP"/> <!-- that is the default for
the board but I'm putting it here as example-->
- <define name="MODEM_BAUD" value="B57600"/><!-- that is the default for
the board but I'm putting it here as example-->
- <!--<define name="KILL_MOTORS"/>--> <!-- prevent motors from ever
starting -->
- <!--<define name="RADIO_CONTROL_KILL_SWITCH"
value="RADIO_CONTROL_SWITCH1"/>-->
- <define name="USE_ADAPT_HOVER"/>
- <define name="USE_GPS_ACC4R"/>
- <define name="GUIDANCE_H_USE_REF"/>
- <define name="USE_INS_NAV_INIT"/>
- </target>
- <target name="sim" board="pc">
- <define name="USE_ADAPT_HOVER"/>
- <define name="GUIDANCE_H_USE_REF"/>
- <subsystem name="fdm" type="nps"/>
- </target>
- <subsystem name="radio_control" type="ppm"/>
- <subsystem name="actuators" type="mkk"/>
- <subsystem name="imu" type="b2_v1.0"/>
- <subsystem name="gps" type="ublox"/>
- <subsystem name="ahrs" type="cmpl"/>
- <subsystem name="ins" type="hff">
- <define name="GPS_LAG=0.2"/>
- </subsystem>
- </firmware>
-
- <firmware name="booz_test_progs">
- <target name="test_telemetry" board="booz_1.0"/>
- <target name="test_baro" board="booz_1.0"/>
- <target name="test_spektrum" board="booz_1.0"/>
- </firmware>
-
<makefile target="closure" location="after">
ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c
sim.srcs += $(SRC_BOOZ_SIM)/booz2_pwm_hw.c
Modified: paparazzi-software/trunk/conf/airframes/easy_glider_example.xml
===================================================================
--- paparazzi-software/trunk/conf/airframes/easy_glider_example.xml
2010-11-11 11:00:32 UTC (rev 6396)
+++ paparazzi-software/trunk/conf/airframes/easy_glider_example.xml
2010-11-11 15:15:11 UTC (rev 6397)
@@ -152,12 +152,12 @@
<firmware name="fixedwing">
<target name="sim" board="pc"/>
- <target name="ap" board="tiny_0.99">
- <define name="AGR_CLIMB" />
- <define name="LOITER_TRIM" />
- <define name="ALT_KALMAN" />
- </target>
+ <target name="ap" board="tiny_0.99"/>
+ <define name="AGR_CLIMB" />
+ <define name="LOITER_TRIM" />
+ <define name="ALT_KALMAN" />
+
<subsystem name="radio_control" type="ppm"/>
<!-- Communication -->
Modified: paparazzi-software/trunk/conf/airframes/easystar_ets_example.xml
===================================================================
--- paparazzi-software/trunk/conf/airframes/easystar_ets_example.xml
2010-11-11 11:00:32 UTC (rev 6396)
+++ paparazzi-software/trunk/conf/airframes/easystar_ets_example.xml
2010-11-11 15:15:11 UTC (rev 6397)
@@ -10,23 +10,15 @@
<airframe name="EasyStar2 - TWOG v1">
<firmware name="fixedwing">
- <target name="ap" board="twog_1.0">
- <define name="AGR_CLIMB"/>
- <define name="LOITER_TRIM"/>
- <define name="WIND_INFO"/>
- <define name="ALT_KALMAN"/>
- <define name="USE_I2C0"/>
- <define name="USE_AIRSPEED"/>
- </target>
+ <target name="ap" board="twog_1.0"/>
+ <target name="sim" board="pc"/>
- <target name="sim" board="pc">
- <define name="AGR_CLIMB"/>
- <define name="LOITER_TRIM"/>
- <define name="WIND_INFO"/>
- <define name="ALT_KALMAN"/>
- <define name="USE_I2C0"/>
- <define name="USE_AIRSPEED"/>
- </target>
+ <define name="AGR_CLIMB"/>
+ <define name="LOITER_TRIM"/>
+ <define name="WIND_INFO"/>
+ <define name="ALT_KALMAN"/>
+ <define name="USE_I2C0"/>
+ <define name="USE_AIRSPEED"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
Modified: paparazzi-software/trunk/conf/airframes/funjet_cam_example.xml
===================================================================
--- paparazzi-software/trunk/conf/airframes/funjet_cam_example.xml
2010-11-11 11:00:32 UTC (rev 6396)
+++ paparazzi-software/trunk/conf/airframes/funjet_cam_example.xml
2010-11-11 15:15:11 UTC (rev 6397)
@@ -12,12 +12,12 @@
<firmware name="fixedwing">
<target name="sim" board="pc"/>
- <target name="ap" board="tiny_2.11">
- <define name="AGR_CLIMB"/>
- <define name="LOITER_TRIM"/>
- <define name="ALT_KALMAN"/>
- </target>
+ <target name="ap" board="tiny_2.11"/>
+ <define name="AGR_CLIMB"/>
+ <define name="LOITER_TRIM"/>
+ <define name="ALT_KALMAN"/>
+
<subsystem name="radio_control" type="ppm"/>
<subsystem name="joystick"/>
Modified: paparazzi-software/trunk/conf/airframes/funjet_example.xml
===================================================================
--- paparazzi-software/trunk/conf/airframes/funjet_example.xml 2010-11-11
11:00:32 UTC (rev 6396)
+++ paparazzi-software/trunk/conf/airframes/funjet_example.xml 2010-11-11
15:15:11 UTC (rev 6397)
@@ -12,12 +12,12 @@
<firmware name="fixedwing">
<target name="sim" board="pc"/>
- <target name="ap" board="tiny_2.11">
- <define name="AGR_CLIMB"/>
- <define name="LOITER_TRIM"/>
- <define name="ALT_KALMAN"/>
- </target>
+ <target name="ap" board="tiny_2.11"/>
+ <define name="AGR_CLIMB"/>
+ <define name="LOITER_TRIM"/>
+ <define name="ALT_KALMAN"/>
+
<subsystem name="radio_control" type="ppm"/>
<subsystem name="joystick"/>
Modified: paparazzi-software/trunk/conf/airframes/mentor_tum.xml
===================================================================
--- paparazzi-software/trunk/conf/airframes/mentor_tum.xml 2010-11-11
11:00:32 UTC (rev 6396)
+++ paparazzi-software/trunk/conf/airframes/mentor_tum.xml 2010-11-11
15:15:11 UTC (rev 6397)
@@ -10,27 +10,15 @@
<airframe name="Mentor Twog AkaModell">
<firmware name="fixedwing">
- <target name="ap" board="twog_1.0">
- <define name="AGR_CLIMB"/>
- <define name="LOITER_TRIM"/>
- <define name="WIND_INFO"/>
- <define name="ALT_KALMAN"/>
- </target>
+ <target name="ap" board="twog_1.0"/>
+ <target name="sim" board="pc"/>
+ <target name="jsbsim" board="pc"/>
- <target name="sim" board="pc">
- <define name="AGR_CLIMB"/>
- <define name="LOITER_TRIM"/>
- <define name="WIND_INFO"/>
- <define name="ALT_KALMAN"/>
- </target>
+ <define name="AGR_CLIMB"/>
+ <define name="LOITER_TRIM"/>
+ <define name="WIND_INFO"/>
+ <define name="ALT_KALMAN"/>
- <target name="jsbsim" board="pc">
- <define name="AGR_CLIMB"/>
- <define name="LOITER_TRIM"/>
- <define name="WIND_INFO"/>
- <define name="ALT_KALMAN"/>
- </target>
-
<subsystem name="radio_control" type="ppm"/>
<!--<define name="TELEMETRY_MODE_FBW" value="1"/>-->
<subsystem name="telemetry" type="transparent"/>
Modified: paparazzi-software/trunk/conf/airframes/microjet_example.xml
===================================================================
--- paparazzi-software/trunk/conf/airframes/microjet_example.xml
2010-11-11 11:00:32 UTC (rev 6396)
+++ paparazzi-software/trunk/conf/airframes/microjet_example.xml
2010-11-11 15:15:11 UTC (rev 6397)
@@ -161,12 +161,12 @@
<firmware name="fixedwing">
<target name="sim" board="pc" />
- <target name="ap" board="tiny_1.1">
- <define name="AGR_CLIMB" />
- <define name="LOITER_TRIM" />
- <define name="ALT_KALMAN" />
- </target>
+ <target name="ap" board="tiny_1.1"/>
+ <define name="AGR_CLIMB" />
+ <define name="LOITER_TRIM" />
+ <define name="ALT_KALMAN" />
+
<subsystem name="radio_control" type="ppm"/>
<!-- Communication -->
Modified: paparazzi-software/trunk/conf/airframes/microjet_raw_makefile.xml
===================================================================
--- paparazzi-software/trunk/conf/airframes/microjet_raw_makefile.xml
2010-11-11 11:00:32 UTC (rev 6396)
+++ paparazzi-software/trunk/conf/airframes/microjet_raw_makefile.xml
2010-11-11 15:15:11 UTC (rev 6397)
@@ -1,13 +1,13 @@
<!DOCTYPE airframe SYSTEM "./airframe.dtd">
-<!--
+<!--
Microjet Multiplex (http://www.multiplex-rc.de/)
Tiny 2.11 board (http://paparazzi.enac.fr/wiki/Tiny_v2)
Tilted infrared sensor
Transparent modem
This airframe demonstrate the old raw makefile syntax
- Look at conf/airframes/microjet_xml_only.xml for equivalent new syntax
+ Look at conf/airframes/microjet_example.xml for equivalent new syntax
-->
<airframe name="microjet raw makefile">
@@ -38,7 +38,7 @@
<command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
- <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
+ <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="MOTOR" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -84,13 +84,13 @@
<section name="GYRO" prefix="GYRO_">
<define name="ADC_ROLL_NEUTRAL" value="520"/>
- <define name="ADC_TEMP_NEUTRAL" value="476"/>
- <define name="ADC_TEMP_SLOPE" value="0"/>
+ <define name="ADC_TEMP_NEUTRAL" value="476"/>
+ <define name="ADC_TEMP_SLOPE" value="0"/>
<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
<define name="ROLL_SCALE"
value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)"
unit="deg/s/adc_unit"/>
- <define name="ROLL_DIRECTION" value="-1."/>
+ <define name="ROLL_DIRECTION" value="-1."/>
</section>
<section name="BAT">
@@ -98,7 +98,7 @@
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
-
+
<section name="MISC">
<define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
@@ -110,7 +110,7 @@
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
</section>
-
+
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- outer loop proportional gain -->
@@ -167,11 +167,11 @@
</section>
<section name="FAILSAFE" prefix="FAILSAFE_">
- <define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
- <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
- <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
- <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
- <define name="HOME_RADIUS" value="100" unit="m"/>
+ <define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
+ <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+ <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+ <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+ <define name="HOME_RADIUS" value="100" unit="m"/>
</section>
@@ -187,11 +187,11 @@
ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
ap.CFLAGS += -DRADIO_CONTROL
- ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
+ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0
-DDATALINK=PPRZ -DUART0_BAUD=B9600
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
ap.CFLAGS += -DINTER_MCU
- ap.srcs += inter_mcu.c
+ ap.srcs += inter_mcu.c
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
ap.srcs += $(SRC_ARCH)/adc_hw.c
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
Modified: paparazzi-software/trunk/conf/airframes/twinjet_example.xml
===================================================================
--- paparazzi-software/trunk/conf/airframes/twinjet_example.xml 2010-11-11
11:00:32 UTC (rev 6396)
+++ paparazzi-software/trunk/conf/airframes/twinjet_example.xml 2010-11-11
15:15:11 UTC (rev 6397)
@@ -11,17 +11,12 @@
<airframe name="Twinjet">
<firmware name="fixedwing">
- <target name="ap" board="twog_1.0">
- <define name="LOITER_TRIM"/>
- <define name="ALT_KALMAN"/>
- <define name="AGR_CLIMB"/>
- </target>
+ <target name="ap" board="twog_1.0"/>
+ <target name="sim" board="pc"/>
- <target name="sim" board="pc">
- <define name="LOITER_TRIM"/>
- <define name="ALT_KALMAN"/>
- <define name="AGR_CLIMB"/>
- </target>
+ <define name="LOITER_TRIM"/>
+ <define name="ALT_KALMAN"/>
+ <define name="AGR_CLIMB"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
Modified: paparazzi-software/trunk/conf/airframes/twinjet_overo.xml
===================================================================
--- paparazzi-software/trunk/conf/airframes/twinjet_overo.xml 2010-11-11
11:00:32 UTC (rev 6396)
+++ paparazzi-software/trunk/conf/airframes/twinjet_overo.xml 2010-11-11
15:15:11 UTC (rev 6397)
@@ -11,26 +11,22 @@
<airframe name="Twinjet">
<firmware name="fixedwing">
- <target name="ap" board="twog_1.0">
- <define name="LOITER_TRIM"/>
- <define name="ALT_KALMAN"/>
- <define name="AGR_CLIMB"/>
+ <target name="ap" board="twog_1.0">
<define name="UBX_EXTERNAL"/>
<define name="USE_ADC_GENERIC"/>
</target>
- <target name="sim" board="pc">
- <define name="LOITER_TRIM"/>
- <define name="ALT_KALMAN"/>
- <define name="AGR_CLIMB"/>
- </target>
-
- <subsystem name="adc" type="generic">
- <param name="ADC_GENERIC1" value="ADC_3"/>
- <param name="ADC_GENERIC2" value="ADC_5"/>
+ <target name="sim" board="pc"/>
+
+ <define name="LOITER_TRIM"/>
+ <define name="ALT_KALMAN"/>
+ <define name="AGR_CLIMB"/>
+
+ <subsystem name="adc" type="generic">
+ <param name="ADC_GENERIC1" value="ADC_3"/>
+ <param name="ADC_GENERIC2" value="ADC_5"/>
</subsystem>
-
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
@@ -42,8 +38,8 @@
</firmware>
<firmware name="setup">
- <target name="tunnel" board="twog_1.0" />
- <target name="setup_actuators" board="twog_1.0" />
+ <target name="tunnel" board="twog_1.0" />
+ <target name="setup_actuators" board="twog_1.0" />
</firmware>
<modules>
Modified: paparazzi-software/trunk/conf/airframes/twinstar_example.xml
===================================================================
--- paparazzi-software/trunk/conf/airframes/twinstar_example.xml
2010-11-11 11:00:32 UTC (rev 6396)
+++ paparazzi-software/trunk/conf/airframes/twinstar_example.xml
2010-11-11 15:15:11 UTC (rev 6397)
@@ -12,17 +12,12 @@
<airframe name="Twinstar">
<firmware name="fixedwing">
- <target name="ap" board="twog_1.0">
- <define name="LOITER_TRIM"/>
- <define name="ALT_KALMAN"/>
- <define name="AGR_CLIMB"/>
- </target>
+ <target name="ap" board="twog_1.0"/>
+ <target name="sim" board="pc"/>
- <target name="sim" board="pc">
- <define name="LOITER_TRIM"/>
- <define name="ALT_KALMAN"/>
- <define name="AGR_CLIMB"/>
- </target>
+ <define name="LOITER_TRIM"/>
+ <define name="ALT_KALMAN"/>
+ <define name="AGR_CLIMB"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
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- [paparazzi-commits] [6397] set common defines for all targets of fixedwing firmware in example airframes,
Felix Ruess <=