[paparazzi-commits] [4332] Remove old/unused mercury airframe remnants

[Allen Ibara]

Revision: 4332
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4332
Author:   aibara
Date:     2009-11-13 19:33:50 +0000 (Fri, 13 Nov 2009)
Log Message:
-----------
Remove old/unused mercury airframe remnants

Modified Paths:
--------------
    paparazzi3/trunk/conf/airframes/mercury_csc.xml
    paparazzi3/trunk/conf/autopilot/mercury_csc.makefile

Removed Paths:
-------------
    paparazzi3/trunk/conf/airframes/mercury.xml
    paparazzi3/trunk/conf/settings/mercury.xml
    paparazzi3/trunk/conf/telemetry/mercury.xml

Deleted: paparazzi3/trunk/conf/airframes/mercury.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/mercury.xml 2009-11-13 05:49:08 UTC (rev 
4331)
+++ paparazzi3/trunk/conf/airframes/mercury.xml 2009-11-13 19:33:50 UTC (rev 
4332)
@@ -1,228 +0,0 @@
-<airframe name="MERCURY">
-
-<!-- commands section -->
-
-  <servos>
-    <servo name="S1" no="0" min="11287" neutral="32768" max="54249"/>
-    <servo name="S2" no="1" min="11287" neutral="32768" max="54249"/>
-  </servos>
-
-   <csc_boards>
-    <board id="0">
-      <msg id="SERVO_CMD_ID" type="ServoCmd">
-       <field_map field="servos[0]" servo_id="SERVO_S1"/>
-       <field_map field="servos[1]" servo_id="SERVO_S2"/>
-      </msg>
-   </board>
-  </csc_boards>
-
-  <section name="PROP_MISC">
-    <define name="PROPS_NB" value="4" />
-  </section>
-  
-  <!-- Indexes for mixed commands. -->
-  <section name="PROPS" PREFIX="PROP_">
-    <define name="UPPER_LEFT"  value="0" />
-    <define name="LOWER_RIGHT" value="1" />
-    <define name="LOWER_LEFT"  value="2" />
-    <define name="UPPER_RIGHT" value="3" />
-  </section>
-
-  <section name="MERCURY_SUPERVISION" PREFIX="MERCURY_SUPERVISION_">
-    <define name="YAW_SERVO_GAIN" value="20" />
-    <define name="PITCH_SERVO_GAIN" value="0" />
-    <define name="YAW_MOTOR_GAIN" value="10" />
-    <define name="YAW_COMP_SLOPE" value="0" />
-    <define name="YAW_COMP_OFFSET" value="3000" />
-  </section>
-          
-  <section name="CSC_ACTUATORS" PREFIX="CSC_ACTUATORS_">
-    <define name="REMOTE_IDS" value="{1,2,5,6,7,8}" />
-  </section>
-
-  <section name="GUIDANCE_V"   prefix="BOOZ2_GUIDANCE_V_">
-   <define name="MIN_ERR_Z"    value="POS_BFP_OF_REAL(-10.)"/>
-   <define name="MAX_ERR_Z"    value="POS_BFP_OF_REAL( 10.)"/>
-   <define name="MIN_ERR_ZD"   value="SPEED_BFP_OF_REAL(-10.)"/>
-   <define name="MAX_ERR_ZD"   value="SPEED_BFP_OF_REAL( 10.)"/>
-   <define name="HOVER_KP"     value="-500"/>
-   <define name="HOVER_KD"     value="-250"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
-  </section>
-
-  
-
-
-  <commands>
-    <axis name="ROLL"     failsafe_value="0"/>
-    <axis name="PITCH"    failsafe_value="0"/>
-    <axis name="YAW"    failsafe_value="0"/>
-    <axis name="THRUST"    failsafe_value="0"/>
-  </commands>
-
-  <section name="IMU" prefix="IMU_">
-
-    <!-- *_s is Xsens.
-
-       phi_s is rotation about z_s
-       theta_s rotation about y_s
-       psi_s rotation about x_s
-
-       phi   = - phi_s
-       theta = theta_s
-       psi   = psi_s
-        
-       P = Dphi
-       Q = Dtheta
-       R = Dpsi
-
-      -->
-    <define name="GYRO_P_NEUTRAL" value="32665"/>
-    <define name="GYRO_Q_NEUTRAL" value="32745"/>
-    <define name="GYRO_R_NEUTRAL" value="32447"/>
-
-    <!-- FIXME: this wants GYRO_[P|Q|R]_SENS, defines -->
-    <define name="GYRO_P_SENS_NUM" value="(1<<INT32_RATE_FRAC)" />
-    <define name="GYRO_Q_SENS_NUM" value="(1<<INT32_RATE_FRAC)" />
-    <define name="GYRO_R_SENS_NUM" value="(1<<INT32_RATE_FRAC)" />
-
-    <define name="GYRO_P_SENS_DEN" value="-1174" />
-    <define name="GYRO_Q_SENS_DEN" value="1165" />
-    <define name="GYRO_R_SENS_DEN" value="1164" />
-
-
-
-    <!--  Let x_s,y_s,z_s be the XSens accels, and x,y,z the booz code.
-
-         x = -z_s
-         y = y_s
-         z = x_s
-
-      -->
-    <define name="ACCEL_X_NEUTRAL" value="32285"/>
-    <define name="ACCEL_Y_NEUTRAL" value="33240"/>
-    <define name="ACCEL_Z_NEUTRAL" value="33029"/>
-
-    <!-- FIXME: this wants ACCEL_[X|Y|Z]_SENS, defines -->
-    <define name="ACCEL_X_SENS_NUM" value="(1<<INT32_ACCEL_FRAC)" />
-    <define name="ACCEL_Y_SENS_NUM" value="(1<<INT32_ACCEL_FRAC)" />
-    <define name="ACCEL_Z_SENS_NUM" value="(1<<INT32_ACCEL_FRAC)" />
-    
-    <define name="ACCEL_X_SENS_DEN" value="-414" /> 
-    <define name="ACCEL_Y_SENS_DEN" value="411" />
-    <define name="ACCEL_Z_SENS_DEN" value="416" />
-
-    <!-- We need to think about how to get the magnetometer to
-        reflecct the above coordinate shift. -->
-    
-    <define name="MAG_X_NEUTRAL" value="32622"/>
-    <define name="MAG_Y_NEUTRAL" value="32826"/> 
-    <define name="MAG_Z_NEUTRAL" value="32802"/>
-
-
-    <!-- FIXME: this wants MAG_[X|Y|Z]_SENS, define -->
-    <define name="MAG_X_SENS_NUM" value="(1<<11)" />
-    <define name="MAG_Y_SENS_NUM" value="(1<<11)" />
-    <define name="MAG_Z_SENS_NUM" value="(1<<11)" />
-
-    <define name="MAG_X_SENS_DEN" value="-7730" />
-    <define name="MAG_Y_SENS_DEN" value="7576" />
-    <define name="MAG_Z_SENS_DEN" value="7757" />
-
-    <define name="BODY_TO_IMU_PHI"   value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))"/>
-    <define name="BODY_TO_IMU_THETA" 
value="ANGLE_BFP_OF_REAL(RadOfDeg(-2.2))"/> 
-    <define name="BODY_TO_IMU_PSI"   value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))"/>
-
-  </section>
-
-  
-
-  <section name="MISC">
-    <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
-  </section>
-
-  
-  <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
-
-    <define name="SP_MAX_P" value="10000"/>
-    <define name="SP_MAX_Q" value="10000"/>
-    <define name="SP_MAX_R" value="10000"/>
-
-    <define name="GAIN_P" value="-400"/>
-    <define name="GAIN_Q" value="-400"/>
-    <define name="GAIN_R" value="-350"/>
-
-  </section>
-
-  <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
-
-    <!-- setpoints -->
-    <define name="SP_MAX_PHI"     value="RadOfDeg(45.)"/>
-    <define name="SP_MAX_THETA"   value="RadOfDeg(90.)"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
-    <define name="DEADBAND_R"     value="250"/>
-
-    <!-- reference -->
-    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
-    <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
-    <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
-
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
-    <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
-    <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
-
-    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
-    <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
-
-    <!-- feedback -->
-    <define name="PHI_PGAIN"  value="-400"/>
-    <define name="PHI_DGAIN"  value="-300"/>
-    <define name="PHI_IGAIN"  value="-100"/>
-
-    <define name="THETA_PGAIN"  value="-400"/>
-    <define name="THETA_DGAIN"  value="-300"/>
-    <define name="THETA_IGAIN"  value="-100"/>
-
-    <define name="PSI_PGAIN"  value="-380"/>
-    <define name="PSI_DGAIN"  value="-320"/>
-    <define name="PSI_IGAIN"  value="-75"/>
-
-    <!-- feedforward -->
-    <define name="PHI_DDGAIN"   value=" 300"/>
-    <define name="THETA_DDGAIN" value=" 300"/>
-    <define name="PSI_DDGAIN"   value=" 300"/>
-
-  </section>
-
-  
-  <section name="SUPERVISION" prefix="SUPERVISION_">
-    <define name="FRONT_ROTOR_CW" value="1"/>
-    <define name="MIN_MOTOR" value="2"/>
-    <define name="MAX_MOTOR" value="210"/>
-    <define name="TRIM_A" value="0"/>
-    <define name="TRIM_E" value="0"/>
-    <define name="TRIM_R" value="0"/>
-  </section>
-
-
-  <rc_commands>
-    <set command="ROLL"     value="@ROLL"/>
-    <set command="PITCH"    value="@PITCH"/>
-    <set command="YAW"    value="@YAW"/>
-  </rc_commands>
-
-    
-<makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/mercury.makefile
-include $(PAPARAZZI_SRC)/conf/autopilot/csc_baro.makefile
-include 
$(PAPARAZZI_SRC)/conf/autopilot/subsystems/booz2_radio_control_dummy.makefile
-</makefile>
-
-</airframe>

Modified: paparazzi3/trunk/conf/airframes/mercury_csc.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/mercury_csc.xml     2009-11-13 05:49:08 UTC 
(rev 4331)
+++ paparazzi3/trunk/conf/airframes/mercury_csc.xml     2009-11-13 19:33:50 UTC 
(rev 4332)
@@ -46,6 +46,7 @@
 ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
 
 include $(PAPARAZZI_SRC)/conf/autopilot/mercury_csc.makefile
+include $(PAPARAZZI_SRC)/conf/autopilot/mercury_csc_uart0_pprz.makefile
 include $(PAPARAZZI_SRC)/conf/autopilot/pwm_input.makefile
 include $(PAPARAZZI_SRC)/conf/autopilot/vane_sensor.makefile
 

Modified: paparazzi3/trunk/conf/autopilot/mercury_csc.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/mercury_csc.makefile        2009-11-13 
05:49:08 UTC (rev 4331)
+++ paparazzi3/trunk/conf/autopilot/mercury_csc.makefile        2009-11-13 
19:33:50 UTC (rev 4332)
@@ -57,7 +57,6 @@
 ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' 
-DTIMER0_VIC_SLOT=1
 ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
-ap.srcs += $(SRC_ARCH)/uart_hw.c
 #ap.srcs += $(SRC_ARCH)/adc_hw.c
 #ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_0 -DUSE_AD0_1
 
@@ -74,14 +73,6 @@
 ap.srcs += $(SRC_CSC)/csc_can.c
 #ap.CFLAGS += -DUSE_CAN2 -DCAN2_BTR=CANBitrate125k_2MHz -DCAN2_VIC_SLOT=4
 
-ap.CFLAGS += -DAP_LINK_UART -DPPRZ_UART=Uart0
-ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B57600 -DUART0_VIC_SLOT=5
-ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport \
-                         -DDOWNLINK_DEVICE=Uart0
-ap.srcs += downlink.c pprz_transport.c $(SRC_CSC)/csc_telemetry.c
-ap.CFLAGS += -DDATALINK=PPRZ 
-ap.srcs += $(SRC_CSC)/csc_datalink.c
-
 ap.CFLAGS += -DACTUATORS=\"servos_direct_hw.h\"
 ap.srcs += actuators.c
 ap.srcs += $(SRC_ARCH)/servos_direct_hw.c

Deleted: paparazzi3/trunk/conf/settings/mercury.xml
===================================================================
--- paparazzi3/trunk/conf/settings/mercury.xml  2009-11-13 05:49:08 UTC (rev 
4331)
+++ paparazzi3/trunk/conf/settings/mercury.xml  2009-11-13 19:33:50 UTC (rev 
4332)
@@ -1,54 +0,0 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
-
-<!-- A conf to use for standard operation (no tuning) -->
-
-<settings>
-  <dl_settings>
-       <dl_settings NAME="Misc" >
-      <dl_setting VAR="telemetry_mode_Ap" MIN="0" STEP="1" MAX="2" 
module="csc/csc_telemetry" shortname="telemetry" 
-        values="Default|Debug|Props"/>
-    </dl_settings>
-    <dl_settings NAME="imu params">
-      <dl_setting VAR="xsens_setzero" MIN="0" STEP="1" MAX="1" 
module="csc/mercury_xsens" shortname="zero orientation"/>
-    </dl_settings>
-
-
-
-    <dl_settings NAME="Att Loop">
-      <dl_setting VAR="booz_stabilization_pgain.x" MIN="-4000" STEP="1" 
MAX="-1" module="stabilization/booz_stabilization_attitude" shortname="pgain 
phi"/>
-      <dl_setting VAR="booz_stabilization_pgain.y" MIN="-4000" STEP="1" 
MAX="-1" module="stabilization/booz_stabilization_attitude" shortname="pgain 
tetha"/>
-      <dl_setting VAR="booz_stabilization_pgain.z" MIN="-4000" STEP="1" 
MAX="-1" module="stabilization/booz_stabilization_attitude" shortname="pgain 
psi"/>
-      <dl_setting VAR="booz_stabilization_dgain.x" MIN="-4000" STEP="1" 
MAX="-1" module="stabilization/booz_stabilization_attitude" shortname="dgain 
p"/>
-      <dl_setting VAR="booz_stabilization_dgain.y" MIN="-4000" STEP="1" 
MAX="-1" module="stabilization/booz_stabilization_attitude" shortname="dgain 
q"/>
-      <dl_setting VAR="booz_stabilization_dgain.z" MIN="-4000" STEP="1" 
MAX="-1" module="stabilization/booz_stabilization_attitude" shortname="dgain 
r"/>
-      <dl_setting VAR="booz_stabilization_igain.x" MIN="-300" STEP="1" MAX="0" 
module="stabilization/booz_stabilization_attitude" shortname="igain phi"/>
-      <dl_setting VAR="booz_stabilization_igain.y" MIN="-300" STEP="1" MAX="0" 
module="stabilization/booz_stabilization_attitude" shortname="igain theta"/>
-      <dl_setting VAR="booz_stabilization_igain.z" MIN="-300" STEP="1" MAX="0" 
module="stabilization/booz_stabilization_attitude" shortname="igain psi"/>
-      <dl_setting VAR="booz_stabilization_ddgain.x" MIN="0" STEP="1" MAX="500" 
module="stabilization/booz_stabilization_attitude" shortname="ddgain p"/>
-      <dl_setting VAR="booz_stabilization_ddgain.y" MIN="0" STEP="1" MAX="500" 
module="stabilization/booz_stabilization_attitude" shortname="ddgain q"/>
-      <dl_setting VAR="booz_stabilization_ddgain.z" MIN="0" STEP="1" MAX="500" 
module="stabilization/booz_stabilization_attitude" shortname="ddgain r"/>
-    </dl_settings>
-
-    <dl_settings NAME="Filter">
-       <dl_setting VAR="booz2_face_reinj_1" MIN="512" STEP="512" MAX="262144" 
module="ahrs/booz2_filter_attitude_cmpl_euler" shortname="reinj_1"/>
-    </dl_settings>
-
-    <dl_settings NAME="Servos">
-      <dl_setting VAR="mercury_supervision_yaw_servo_gain" MIN="0" STEP="1" 
MAX="20" module="mercury_supervision" shortname="servo gain"/>
-      <dl_setting VAR="mercury_supervision_yaw_motor_gain" MIN="0" STEP="1" 
MAX="20" module="mercury_supervision" shortname="motor gain"/>
-      <dl_setting VAR="mercury_supervision_yaw_comp_slope"  MIN="0" STEP="1" 
MAX="40" module="mercury_supervision" shortname="comp slope"/>
-      <dl_setting VAR="mercury_supervision_yaw_comp_offset" MIN="1700" 
STEP="1" MAX="3700" module="mercury_supervision" shortname="comp offset"/>
-    </dl_settings>
-    
-    <dl_settings NAME="Props" >
-      <dl_setting VAR="props_throttle_pass"  MIN="0"     STEP="1" MAX="1" 
module="mercury_ap" shortname="throttle pass" values="FALSE|TRUE"/>
-      <dl_setting VAR="props_enable[PROP_UPPER_LEFT]"  MIN="0"     STEP="1" 
MAX="1" module="mercury_ap" shortname="upper left" values="FALSE|TRUE"/>
-      <dl_setting VAR="props_enable[PROP_UPPER_RIGHT]"  MIN="0"     STEP="1" 
MAX="1" module="mercury_ap" shortname="upper right" values="FALSE|TRUE"/>
-      <dl_setting VAR="props_enable[PROP_LOWER_LEFT]"  MIN="0"     STEP="1" 
MAX="1" module="mercury_ap" shortname="lower left" values="FALSE|TRUE"/>
-      <dl_setting VAR="props_enable[PROP_LOWER_RIGHT]"  MIN="0"     STEP="1" 
MAX="1" module="mercury_ap" shortname="lower right" values="FALSE|TRUE"/>
-    </dl_settings>
-
-
-
-  </dl_settings>
-</settings>

Deleted: paparazzi3/trunk/conf/telemetry/mercury.xml
===================================================================
--- paparazzi3/trunk/conf/telemetry/mercury.xml 2009-11-13 05:49:08 UTC (rev 
4331)
+++ paparazzi3/trunk/conf/telemetry/mercury.xml 2009-11-13 19:33:50 UTC (rev 
4332)
@@ -1,39 +0,0 @@
-<?xml version="1.0"?>
-<!DOCTYPE telemetry SYSTEM "telemetry.dtd">
-<telemetry>
-  <process name="Ap">
-    <mode name="default">
-      <message name="ALIVE"          period="5"/>
-<!--      <message name="ATTITUDE"          period="0.04"/> -->
-<!--      <message name="BARO_MS5534A"   period="0.1"/> -->
-      <message name="QUAD_STATUS"      period="1.1"/>
-      <message name="DL_VALUE"         period="1.5"/>
-      <message name="COMMANDS"         period="0.2"/>
-      <message name="BOOZ2_AHRS_EULER" period="0.2"/>
-      <message name="RC"              period="0.2"/>
-      <message name="ACTUATORS"               period="0.2"/>
-      <message name="MERCURY_PROPS"    period="0.2"/>
-      <message name="DOWNLINK"        period="1.1"/>
-    </mode>            
-    <mode name="debug">
-      <message name="ALIVE"          period="5"/>
-      <!--      <message name="ATTITUDE"            period="0.04"/> -->
-      <message name="COMMANDS"       period="0.5"/>
-      <message name="ACTUATORS"      period="0.5"/> 
-      <message name="QUAD_STATUS"    period="1.1"/>
-      <message name="RC"            period="0.5"/>
-      <message name="BOOZ2_ACCEL"      period="0.4"/>
-      <message name="BOOZ2_GYRO"       period="0.2"/>
-      <message name="BOOZ2_MAG"        period="0.4"/>
-      <message name="BOOZ2_AHRS_EULER" period="0.4"/>
-      <message name="DL_VALUE"         period="0.5"/>
-    </mode>
-    <mode name="props">
-      <message name="ALIVE"          period="5"/>
-      <message name="QUAD_STATUS"      period="1.1"/>
-      <message name="DL_VALUE"         period="1.5"/>
-      <message name="MERCURY_PROPS"    period="0.02"/>
-      <message name="DOWNLINK"        period="1.1"/>
-    </mode>
-  </process>
-</telemetry>