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[paparazzi-commits] [5504] example airframe updates
|
From: |
Felix Ruess |
|
Subject: |
[paparazzi-commits] [5504] example airframe updates |
|
Date: |
Fri, 20 Aug 2010 12:22:34 +0000 |
Revision: 5504
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5504
Author: flixr
Date: 2010-08-20 12:22:34 +0000 (Fri, 20 Aug 2010)
Log Message:
-----------
example airframe updates
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/easystar_ets_example.xml
paparazzi3/trunk/conf/airframes/easystar_example.xml
paparazzi3/trunk/conf/airframes/mentor_tum.xml
paparazzi3/trunk/conf/airframes/microjet_example.xml
paparazzi3/trunk/conf/boards/twog_1.makefile
Added Paths:
-----------
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/airspeed_ets.makefile
Removed Paths:
-------------
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/ets_airspeed.makefile
Modified: paparazzi3/trunk/conf/airframes/easystar_ets_example.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/easystar_ets_example.xml 2010-08-20
12:14:29 UTC (rev 5503)
+++ paparazzi3/trunk/conf/airframes/easystar_ets_example.xml 2010-08-20
12:22:34 UTC (rev 5504)
@@ -9,6 +9,35 @@
<airframe name="EasyStar2 - TWOG v1">
+ <firmware name="fixedwing">
+ <target name="ap" board="twog_1">
+ <define name="AGR_CLIMB"/>
+ <define name="LOITER_TRIM"/>
+ <define name="WIND_INFO"/>
+ <define name="ALT_KALMAN"/>
+ </target>
+
+ <target name="sim" 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"/>
+ <subsystem name="telemetry" type="transparent"/>
+ <subsystem name="actuators" type="4017"/>
+ <subsystem name="attitude" type="infrared"/>
+ <subsystem name="gps" type="ublox_lea5h"/>
+ <subsystem name="airspeed" type="ets"/>
+ <subsystem name="navigation"/>
+ </firmware>
+
+ <firmware name="setup">
+ <target name="tunnel" board="twog_1" />
+ <target name="setup_actuators" board="twog_1" />
+ </firmware>
+
<!-- commands section -->
<servos>
<servo name="THROTTLE" no="0" min="1120" neutral="1120" max="1920"/>
@@ -147,46 +176,4 @@
<define name="HOME_RADIUS" value="90" unit="m"/>
</section>
- <makefile>
-BOARD_CFG = \"twog_v1.h\"
-
-FLASH_MODE=IAP
-
-# Board Specifics
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
-
-# Fixed Wing Specifics
-include $(PAPARAZZI_SRC)/conf/autopilot/fixedwing_common.makefile
-include $(CFG_FIXEDWING)/fixedwing_autopilot.makefile
-include $(CFG_FIXEDWING)/subsystems/fixedwing_navigation.makefile
-
-# IO Options
-include $(CFG_FIXEDWING)/subsystems/fixedwing_radio_control_ppm.makefile
-include $(CFG_FIXEDWING)/subsystems/fixedwing_actuators_4017.makefile
-
-# Sensors
-include $(CFG_FIXEDWING)/subsystems/fixedwing_attitude_infrared.makefile
-include $(CFG_FIXEDWING)/subsystems/fixedwing_ets_airspeed.makefile
-
-### (UART 0, 38400baud) are the default GPS parameters, change and uncomment
if needed
-#GPS_UART_NR = 0
-#GPS_BAUD = 38400
-include $(CFG_FIXEDWING)/subsystems/fixedwing_gps_ublox_lea5h.makefile
-
-### (UART 1, 57600baud) are default modem parameters, change and uncomment if
needed
-#MODEM_UART_NR = 1
-#MODEM_BAUD = 57600
-include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_transparent.makefile
-
-
-# Special options
-ap.CFLAGS += -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO
-
-
-######################################
-# Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-
- </makefile>
</airframe>
Modified: paparazzi3/trunk/conf/airframes/easystar_example.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/easystar_example.xml 2010-08-20
12:14:29 UTC (rev 5503)
+++ paparazzi3/trunk/conf/airframes/easystar_example.xml 2010-08-20
12:22:34 UTC (rev 5504)
@@ -8,6 +8,33 @@
-->
<airframe name="EasyStar TWOGv1">
+
+ <firmware name="fixedwing">
+ <target name="ap" board="tiny_2.11">
+ <define name="LOITER_TRIM"/>
+ <define name="WIND_INFO"/>
+ <define name="ALT_KALMAN"/>
+ </target>
+
+ <target name="sim" board="pc">
+ <define name="LOITER_TRIM"/>
+ <define name="WIND_INFO"/>
+ <define name="ALT_KALMAN"/>
+ </target>
+
+ <subsystem name="radio_control" type="ppm"/>
+ <subsystem name="telemetry" type="transparent"/>
+ <subsystem name="actuators" type="4017"/>
+ <subsystem name="attitude" type="infrared"/>
+ <subsystem name="gps" type="ublox_lea5h"/>
+ <subsystem name="navigation"/>
+ </firmware>
+
+ <firmware name="setup">
+ <target name="tunnel" board="tiny_2.11" />
+ <target name="setup_actuators" board="tiny_2.11" />
+ </firmware>
+
<!-- commands section -->
<servos>
<servo name="THROTTLE" no="7" min="1120" neutral="1120" max="1920"/>
@@ -145,45 +172,4 @@
<define name="DEVICE_ADDRESS" value="...."/>
</section>
- <makefile>
-BOARD_CFG = \"twog_v1.h\"
-
-FLASH_MODE=IAP
-
-# Board Specifics
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
-
-# Fixed Wing Specifics
-include $(PAPARAZZI_SRC)/conf/autopilot/fixedwing_common.makefile
-include $(CFG_FIXEDWING)/fixedwing_autopilot.makefile
-include $(CFG_FIXEDWING)/subsystems/fixedwing_navigation.makefile
-
-# IO Options
-include $(CFG_FIXEDWING)/subsystems/fixedwing_radio_control_ppm.makefile
-include $(CFG_FIXEDWING)/subsystems/fixedwing_actuators_4017.makefile
-
-# Sensors
-include $(CFG_FIXEDWING)/subsystems/fixedwing_attitude_infrared.makefile
-
-### (UART 0, 38400baud) are the default GPS parameters, change and uncomment
if needed
-#GPS_UART_NR = 0
-#GPS_BAUD = 38400
-include $(CFG_FIXEDWING)/subsystems/fixedwing_gps_ublox_lea5h.makefile
-
-### (UART 1, 57600baud) are default modem parameters, change and uncomment if
needed
-#MODEM_UART_NR = 1
-#MODEM_BAUD = 57600
-include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_transparent.makefile
-
-
-# Special options
-ap.CFLAGS += -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO
-
-
-######################################
-# Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DLOITER_TRIM -DALT_KALMAN
-
- </makefile>
</airframe>
Modified: paparazzi3/trunk/conf/airframes/mentor_tum.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/mentor_tum.xml 2010-08-20 12:14:29 UTC
(rev 5503)
+++ paparazzi3/trunk/conf/airframes/mentor_tum.xml 2010-08-20 12:22:34 UTC
(rev 5504)
@@ -9,10 +9,44 @@
<airframe name="Mentor Twog AkaModell">
- <target name="fixed_wings" board="tiny_2.11">
+ <firmware name="fixedwing">
+ <target name="ap" board="tiny_2.11">
+ <define name="AGR_CLIMB"/>
+ <define name="LOITER_TRIM"/>
+ <define name="WIND_INFO"/>
+ <define name="ALT_KALMAN"/>
+ <define name="USE_MODULES"/>
+ </target>
+
+ <target name="sim" board="pc">
+ <define name="AGR_CLIMB"/>
+ <define name="LOITER_TRIM"/>
+ <define name="WIND_INFO"/>
+ <define name="ALT_KALMAN"/>
+ <define name="USE_MODULES"/>
+ </target>
+
<subsystem name="radio_control" type="ppm"/>
- </target>
+ <!-- Communication -->
+ <subsystem name="telemetry" type="transparent">
+ <!--<define name="TELEMETRY_MODE_FBW" value="1"/>-->
+ </subsystem>
+
+ <!-- Actuators -->
+ <subsystem name="actuators" type="4017"/>
+
+ <!-- Sensors -->
+ <subsystem name="attitude" type="infrared"/>
+ <subsystem name="gps" type="ublox_lea5h"/>
+ <subsystem name="navigation"/>
+ </firmware>
+
+ <firmware name="setup">
+ <target name="tunnel" board="tiny_2.11" />
+ <target name="setup_actuators" board="tiny_2.11" />
+ </firmware>
+
<modules main_freq="60">
<load name="servo_switch.xml"/>
<load name="sys_mon.xml"/>
@@ -205,82 +239,4 @@
<define name="JSBSIM_IR_PITCH_NEUTRAL" value="RadOfDeg(0.)"/>
</section>
-
- <makefile>
-BOARD_CFG = \"tiny_2_1_1.h\"
-FLASH_MODE = IAP
-
-# Board Specifics
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
-
-# Fixed Wing Specifics
-include $(PAPARAZZI_SRC)/conf/autopilot/fixedwing_common.makefile
-include $(CFG_FIXEDWING)/fixedwing_autopilot.makefile
-include $(CFG_FIXEDWING)/subsystems/fixedwing_attitude_infrared.makefile
-include $(CFG_FIXEDWING)/subsystems/fixedwing_navigation.makefile
-
-# IO Options
-#include $(CFG_FIXEDWING)/subsystems/fixedwing_radio_control_ppm.makefile
-include $(CFG_FIXEDWING)/subsystems/fixedwing_actuators_4017.makefile
-
-### (UART 0, 38400baud) are the default GPS parameters, change and uncomment
if needed
-#GPS_UART_NR = 0
-#GPS_BAUD = 38400
-include $(CFG_FIXEDWING)/subsystems/fixedwing_gps_ublox_lea5h.makefile
-
-### (UART 1, 57600baud) are default modem parameters, change and uncomment if
needed
-#MODEM_UART_NR = 1
-#MODEM_BAUD = 57600
-include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_transparent.makefile
-
-
-
-#### set FBW debug messages (for PPM message)
-#ap.CFLAGS += -DTELEMETRY_MODE_FBW=1
-
-#### Strong Wind compensation, use on windy areas and days.
-#ap.CFLAGS += -DSTRONG_WIND
-
-### Special options
-ap.CFLAGS += -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO
-
-### additional navigation routines
-#ap.srcs += discsurvey.c nav_cube.c snav.c OSAMNav.c
-
-### Use Modules
-ap.CFLAGS += -DUSE_MODULES
-
-
-
-
-#
-############### Config for SITL simulation ######################
-#
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-DTRAFFIC_INFO
-
-sim.srcs += discsurvey.c nav_cube.c snav.c OSAMNav.c
-
-sim.CFLAGS += -DUSE_MODULES
-
-
-#
-############ Config for SITL simulation with JSBSim #############
-#
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl_jsbsim.makefile
-
-jsbsim.CFLAGS += -I/opt/jsbsim/include/JSBSim
-jsbsim.LDFLAGS += -L/opt/jsbsim/lib/
-
-jsbsim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM
-DALT_KALMAN
-jsbsim.srcs += $(SIMDIR)/sim_ac_fw.c
-
-jsbsim.srcs += nav_line.c nav_survey_rectangle.c
-jsbsim.srcs += discsurvey.c nav_cube.c snav.c OSAMNav.c
-
-jsbsim.CFLAGS += -DUSE_MODULES
-
-
- </makefile>
</airframe>
Modified: paparazzi3/trunk/conf/airframes/microjet_example.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/microjet_example.xml 2010-08-20
12:14:29 UTC (rev 5503)
+++ paparazzi3/trunk/conf/airframes/microjet_example.xml 2010-08-20
12:22:34 UTC (rev 5504)
@@ -6,7 +6,7 @@
Xbee modem in API mode
-->
-<airframe name="Microjet Tiny 2.11">
+<airframe name="Microjet Tiny 1.1">
<servos>
<servo name="MOTOR" no="0" min="1290" neutral="1290" max="1810"/>
@@ -161,7 +161,7 @@
<firmware name="fixedwing">
<target name="sim" board="pc" />
- <target name="ap" board="tiny_2.11">
+ <target name="ap" board="tiny_1.1">
<param name="FLASH_MODE" value="IAP" />
<define name="AGR_CLIMB" />
<define name="LOITER_TRIM" />
@@ -188,8 +188,8 @@
<firmware name="setup">
- <target name="tunnel" board="tiny_2.11" />
- <target name="setup_actuators" board="tiny_2.11" />
+ <target name="tunnel" board="tiny_1.1" />
+ <target name="setup_actuators" board="tiny_1.1" />
</firmware>
</airframe>
Copied:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/airspeed_ets.makefile
(from rev 5502,
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/ets_airspeed.makefile)
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/airspeed_ets.makefile
(rev 0)
+++ paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/airspeed_ets.makefile
2010-08-20 12:22:34 UTC (rev 5504)
@@ -0,0 +1,6 @@
+# EagleTree sensors (altimeter and airspeed)
+ap.CFLAGS += -DUSE_AIRSPEED_ETS -DUSE_AIRSPEED -DUSE_BARO_ETS -DUSE_I2C0
+ap.srcs += airspeed.c airspeed_ets.c baro_ets.c i2c.c $(SRC_ARCH)/i2c_hw.c
+
+sim.CFLAGS += -DUSE_AIRSPEED_ETS -DUSE_AIRSPEED -DUSE_BARO_ETS -DUSE_I2C0
+sim.srcs += airspeed.c airspeed_ets.c baro_ets.c i2c.c $(SRC_ARCH)/i2c_hw.c
Deleted:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/ets_airspeed.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/ets_airspeed.makefile
2010-08-20 12:14:29 UTC (rev 5503)
+++ paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/ets_airspeed.makefile
2010-08-20 12:22:34 UTC (rev 5504)
@@ -1,6 +0,0 @@
-# EagleTree sensors (altimeter and airspeed)
-ap.CFLAGS += -DUSE_AIRSPEED_ETS -DUSE_AIRSPEED -DUSE_BARO_ETS -DUSE_I2C0
-ap.srcs += airspeed.c airspeed_ets.c baro_ets.c i2c.c $(SRC_ARCH)/i2c_hw.c
-
-sim.CFLAGS += -DUSE_AIRSPEED_ETS -DUSE_AIRSPEED -DUSE_BARO_ETS -DUSE_I2C0
-sim.srcs += airspeed.c airspeed_ets.c baro_ets.c i2c.c $(SRC_ARCH)/i2c_hw.c
Modified: paparazzi3/trunk/conf/boards/twog_1.makefile
===================================================================
--- paparazzi3/trunk/conf/boards/twog_1.makefile 2010-08-20 12:14:29 UTC
(rev 5503)
+++ paparazzi3/trunk/conf/boards/twog_1.makefile 2010-08-20 12:22:34 UTC
(rev 5504)
@@ -1,9 +1,8 @@
#
-# tiny_2.1.makefile
+# twog_1.makefile
#
-# http://paparazzi.enac.fr/wiki/Tiny_v2
+# http://paparazzi.enac.fr/wiki/Twog_v1
#
include tiny_2.11.makefile
-fi
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