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[paparazzi-commits] [5518]
|
From: |
antoine drouin |
|
Subject: |
[paparazzi-commits] [5518] |
|
Date: |
Fri, 20 Aug 2010 16:47:24 +0000 |
Revision: 5518
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5518
Author: poine
Date: 2010-08-20 16:47:24 +0000 (Fri, 20 Aug 2010)
Log Message:
-----------
Modified Paths:
--------------
paparazzi3/trunk/conf/Makefile.stm32
paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml
paparazzi3/trunk/conf/airframes/Poine/easy_glider1.xml
paparazzi3/trunk/conf/airframes/UofAdelaide/lisa_a1000.xml
paparazzi3/trunk/conf/autopilot/rotorcraft.makefile
paparazzi3/trunk/conf/telemetry/telemetry_test_passthrough.xml
paparazzi3/trunk/doc/buildsystem/buildsystem.dia
paparazzi3/trunk/sw/airborne/adc.h
paparazzi3/trunk/sw/airborne/booz/arch/stm32/imu/booz_imu_aspirin_arch.h
paparazzi3/trunk/sw/airborne/booz/booz2_debug.h
paparazzi3/trunk/sw/airborne/booz/imu/booz_imu_aspirin.c
paparazzi3/trunk/sw/airborne/booz/test/booz2_tunnel.c
paparazzi3/trunk/sw/airborne/booz/test/booz_test_imu.c
paparazzi3/trunk/sw/airborne/fms/fms_autopilot_msg.h
paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough.c
paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough.h
paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough_telemetry.h
paparazzi3/trunk/sw/airborne/fms/overo_test_telemetry2.c
paparazzi3/trunk/sw/airborne/fms/test_telemetry_2.c
paparazzi3/trunk/sw/airborne/lisa/lisa_baro.c
paparazzi3/trunk/sw/airborne/lisa/lisa_stm_passthrough_main.c
paparazzi3/trunk/sw/airborne/lisa/test/hs_gyro.c
paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_hmc5843.c
paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_itg3200.c
paparazzi3/trunk/sw/airborne/lisa/test/test_board.c
paparazzi3/trunk/sw/airborne/lisa/test/test_bswap.c
paparazzi3/trunk/sw/airborne/lisa/test_baro2.c
paparazzi3/trunk/sw/airborne/lisa/test_float.c
paparazzi3/trunk/sw/airborne/lisa/test_mc.c
paparazzi3/trunk/sw/airborne/lisa/test_mc2.c
paparazzi3/trunk/sw/airborne/lisa/test_periodic.c
paparazzi3/trunk/sw/airborne/main_ap.c
paparazzi3/trunk/sw/airborne/modules/ins/ins.h
paparazzi3/trunk/sw/airborne/stm32/adc_hw.h
paparazzi3/trunk/sw/airborne/stm32/stm32_vector_table.c
paparazzi3/trunk/sw/lib/ocaml/cserial.c
paparazzi3/trunk/sw/simulator/nps/nps_autopilot_booz.c
paparazzi3/trunk/sw/simulator/scilab/q1d/q1d_ins.sci
paparazzi3/trunk/sw/simulator/scilab/q1d/q1d_run.sce
paparazzi3/trunk/sw/simulator/scilab/q3d/test_adapt.sce
paparazzi3/trunk/sw/tools/calibration/calibrate.py
paparazzi3/trunk/sw/tools/calibration/calibrate_gyro.py
Added Paths:
-----------
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/
paparazzi3/trunk/sw/simulator/scilab/q6d/povray/test.pov
Removed Paths:
-------------
paparazzi3/trunk/conf/autopilot/baloo.makefile
paparazzi3/trunk/conf/autopilot/subsystems/rotocraft/
Modified: paparazzi3/trunk/conf/Makefile.stm32
===================================================================
--- paparazzi3/trunk/conf/Makefile.stm32 2010-08-20 16:46:35 UTC (rev
5517)
+++ paparazzi3/trunk/conf/Makefile.stm32 2010-08-20 16:47:24 UTC (rev
5518)
@@ -33,6 +33,7 @@
#DEBUG = dwarf-2
#OPT = s
OPT = 2
+#OPT = 0
# Programs location
TOOLCHAIN_DIR=/opt/paparazzi/stm32
Modified: paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml 2010-08-20 16:46:35 UTC
(rev 5517)
+++ paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml 2010-08-20 16:47:24 UTC
(rev 5518)
@@ -163,18 +163,21 @@
</section>
- <firmware name="baloo">
+ <firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.0"/>
- <subsystem name="radio_control" type="spektrum"/>
+ <subsystem name="radio_control" type="spektrum">
+ <param name="RADIO_CONTROL_SPEKTRUM_MODEL"
+
value="\\\"booz/radio_control/booz_radio_control_spektrum_dx7se.h\\\""/>
+ </subsystem>
<subsystem name="actuators" type="asctec"/>
<subsystem name="imu" type="b2v1_1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="ahrs" type="cmpl"/>
</firmware>
- <firmware name="baloo">
- <target name="test_led" board="lisa_l_1.0" />
- <target name="test_float" board="lisa_l_1.0" />
+ <firmware name="rotorcraft">
+ <target name="test_led" board="lisa_l_1.0" />
+ <target name="test_float" board="lisa_l_1.0" />
<target name="test_periodic" board="lisa_l_1.0" />
</firmware>
@@ -194,7 +197,6 @@
ap.CFLAGS += -DMODEM_BAUD=B57600
-ap.CFLAGS +=
-DRADIO_CONTROL_SPEKTRUM_MODEL_H=\"radio_control/booz_radio_control_spektrum_dx7se.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/lisa_test_progs.makefile
Modified: paparazzi3/trunk/conf/airframes/Poine/easy_glider1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/easy_glider1.xml 2010-08-20
16:46:35 UTC (rev 5517)
+++ paparazzi3/trunk/conf/airframes/Poine/easy_glider1.xml 2010-08-20
16:47:24 UTC (rev 5518)
@@ -1,4 +1,4 @@
-<!DOCTYPE airframe SYSTEM "airframe.dtd">
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<airframe name="Easy Glider Tiny 0.99">
Modified: paparazzi3/trunk/conf/airframes/UofAdelaide/lisa_a1000.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/UofAdelaide/lisa_a1000.xml 2010-08-20
16:46:35 UTC (rev 5517)
+++ paparazzi3/trunk/conf/airframes/UofAdelaide/lisa_a1000.xml 2010-08-20
16:47:24 UTC (rev 5518)
@@ -1,4 +1,4 @@
-<!-- this is an asctec frame equiped with Lisa/L#3 and asctec V2 controllers
-->
+<!-- this is a variable pitch quadrotor -->
<airframe name="lisa_asctec">
@@ -168,17 +168,6 @@
<makefile>
-
-USER = root
-HOST = 192.168.1.3
-#HOST = overo
-#HOST = beth
-#HOST = asctec_lisa
-TARGET_DIR = ~
-
-SRC_FMS=fms
-
-
ARCH=stm32
ARCHI=stm32
BOARD_CFG=\"boards/lisa_0.99.h\"
@@ -202,12 +191,7 @@
include $(PAPARAZZI_SRC)/conf/autopilot/lisa_test_progs.makefile
-#
-#
-#
-#include $(PAPARAZZI_SRC)/conf/autopilot/lisa_passthrough.makefile
-
</makefile>
</airframe>
Deleted: paparazzi3/trunk/conf/autopilot/baloo.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/baloo.makefile 2010-08-20 16:46:35 UTC
(rev 5517)
+++ paparazzi3/trunk/conf/autopilot/baloo.makefile 2010-08-20 16:47:24 UTC
(rev 5518)
@@ -1,209 +0,0 @@
-#
-# $Id$
-#
-# Copyright (C) 2010 The Paparazzi Team
-#
-# This file is part of Paparazzi.
-#
-# Paparazzi is free software; you can redistribute it and/or modify
-# it under the terms of the GNU General Public License as published by
-# the Free Software Foundation; either version 2, or (at your option)
-# any later version.
-#
-# Paparazzi is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-#
-# You should have received a copy of the GNU General Public License
-# along with Paparazzi; see the file COPYING. If not, write to
-# the Free Software Foundation, 59 Temple Place - Suite 330,
-# Boston, MA 02111-1307, USA.
-#
-#
-
-CFG_BALOO=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/baloo
-
-SRC_BOOZ=booz
-SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH)
-SRC_BOOZ_TEST=$(SRC_BOOZ)/test
-
-SRC_BOOZ_PRIV=booz_priv
-
-CFG_BOOZ=$(PAPARAZZI_SRC)/conf/autopilot/
-
-BOOZ_INC = -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
-
-
-ap.ARCHDIR = $(ARCHI)
-# this is supposedly ignored by the stm32 makefile
-ap.ARCH = arm7tdmi
-ap.TARGET = ap
-ap.TARGETDIR = ap
-
-
-ap.CFLAGS += $(BOOZ_INC)
-ap.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -DPERIPHERALS_AUTO_INIT
-ap.srcs = $(SRC_BOOZ)/booz2_main.c
-
-ifeq ($(ARCHI), stm32)
-ap.srcs += lisa/plug_sys.c
-endif
-#
-# Interrupts
-#
-ifeq ($(ARCHI), arm7)
-ap.srcs += $(SRC_ARCH)/armVIC.c
-else ifeq ($(ARCHI), stm32)
-ap.srcs += $(SRC_ARCH)/stm32_exceptions.c
-ap.srcs += $(SRC_ARCH)/stm32_vector_table.c
-endif
-
-#
-# LEDs
-#
-ap.CFLAGS += -DUSE_LED
-ifeq ($(ARCHI), stm32)
-ap.srcs += $(SRC_ARCH)/led_hw.c
-endif
-
-#
-# Systime
-#
-ap.CFLAGS += -DUSE_SYS_TIME
-ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-ifeq ($(ARCHI), stm32)
-ap.CFLAGS += -DSYS_TIME_LED=1
-endif
-
-#
-# Telemetry/Datalink
-#
-ap.srcs += $(SRC_ARCH)/uart_hw.c
-ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-ap.srcs += $(SRC_BOOZ)/booz2_telemetry.c \
- downlink.c \
- pprz_transport.c
-ap.CFLAGS += -DDATALINK=PPRZ
-ap.srcs += $(SRC_BOOZ)/booz2_datalink.c
-
-ifeq ($(ARCHI), arm7)
-ap.CFLAGS += -DUSE_UART1 -DUART1_VIC_SLOT=6 -DUART1_BAUD=MODEM_BAUD
-ap.CFLAGS += -DDOWNLINK_DEVICE=Uart1
-ap.CFLAGS += -DPPRZ_UART=Uart1
-else ifeq ($(ARCHI), stm32)
-ap.CFLAGS += -DUSE_UART2 -DUART2_BAUD=MODEM_BAUD
-ap.CFLAGS += -DDOWNLINK_DEVICE=Uart2
-ap.CFLAGS += -DPPRZ_UART=Uart2
-endif
-
-
-ap.srcs += $(SRC_BOOZ)/booz2_commands.c
-
-#
-# Radio control choice
-#
-# include booz2_radio_control_ppm.makefile
-# or
-# include booz2_radio_control_spektrum.makefile
-#
-
-#
-# Actuator choice
-#
-# include booz2_actuators_buss.makefile
-# or
-# include booz2_actuators_asctec.makefile
-#
-
-#
-# IMU choice
-#
-# include booz2_imu_b2v1.makefile
-# or
-# include booz2_imu_b2v1_1.makefile
-# or
-# include booz2_imu_crista.makefile
-#
-
-
-ifeq ($(ARCHI), arm7)
-ap.CFLAGS += -DBOOZ2_ANALOG_BARO_LED=2
-DBOOZ2_ANALOG_BARO_PERIOD='SYS_TICS_OF_SEC((1./100.))'
-ap.srcs += $(SRC_BOOZ)/booz2_analog_baro.c
-
-ap.CFLAGS += -DBOOZ2_ANALOG_BATTERY_PERIOD='SYS_TICS_OF_SEC((1./10.))'
-ap.srcs += $(SRC_BOOZ)/booz2_battery.c
-
-ap.CFLAGS += -DADC0_VIC_SLOT=2
-ap.CFLAGS += -DADC1_VIC_SLOT=3
-ap.srcs += $(SRC_BOOZ)/booz2_analog.c \
- $(SRC_BOOZ_ARCH)/booz2_analog_hw.c
-else ifeq ($(ARCHI), stm32)
-ap.srcs += lisa/lisa_analog_plug.c
-endif
-
-
-#
-# GPS choice
-#
-# include booz2_gps.makefile
-# or
-# nothing
-#
-
-
-#
-# AHRS choice
-#
-# include booz2_ahrs_cmpl.makefile
-# or
-# include booz2_ahrs_lkf.makefile
-#
-
-ap.srcs += $(SRC_BOOZ)/booz2_autopilot.c
-
-ap.srcs += math/pprz_trig_int.c
-ap.srcs += $(SRC_BOOZ)/booz_stabilization.c
-ap.srcs += $(SRC_BOOZ)/stabilization/booz_stabilization_rate.c
-
-
-ap.CFLAGS += -DSTABILISATION_ATTITUDE_TYPE_INT
-ap.CFLAGS +=
-DSTABILISATION_ATTITUDE_H=\"stabilization/booz_stabilization_attitude_int.h\"
-ap.CFLAGS +=
-DSTABILISATION_ATTITUDE_REF_H=\"stabilization/booz_stabilization_attitude_ref_euler_int.h\"
-ap.srcs +=
$(SRC_BOOZ)/stabilization/booz_stabilization_attitude_ref_euler_int.c
-ap.srcs += $(SRC_BOOZ)/stabilization/booz_stabilization_attitude_euler_int.c
-
-ap.CFLAGS += -DUSE_NAVIGATION
-ap.srcs += $(SRC_BOOZ)/guidance/booz2_guidance_h.c
-ap.srcs += $(SRC_BOOZ)/guidance/booz2_guidance_v.c
-
-ap.srcs += $(SRC_BOOZ)/booz2_ins.c
-ap.srcs += math/pprz_geodetic_int.c math/pprz_geodetic_float.c
math/pprz_geodetic_double.c
-
-#
-# INS choice
-#
-# include booz2_ins_hff.makefile
-# or
-# nothing
-#
-
-# vertical filter float version
-ap.srcs += $(SRC_BOOZ)/ins/booz2_vf_float.c
-ap.CFLAGS += -DUSE_VFF -DDT_VFILTER="(1./512.)"
-
-ap.srcs += $(SRC_BOOZ)/booz2_navigation.c
-
-
-#
-# FMS choice
-#
-# include booz2_fms_test_signal.makefile
-# or
-# include booz2_fms_datalink.makefile
-# or
-# nothing
-#
-
-
Modified: paparazzi3/trunk/conf/autopilot/rotorcraft.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/rotorcraft.makefile 2010-08-20 16:46:35 UTC
(rev 5517)
+++ paparazzi3/trunk/conf/autopilot/rotorcraft.makefile 2010-08-20 16:47:24 UTC
(rev 5518)
@@ -22,7 +22,7 @@
#
#
-CFG_BALOO=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/baloo
+CFG_ROTORCRAFT=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/rotorcraft
SRC_BOOZ=booz
SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH)
Modified: paparazzi3/trunk/conf/telemetry/telemetry_test_passthrough.xml
===================================================================
--- paparazzi3/trunk/conf/telemetry/telemetry_test_passthrough.xml
2010-08-20 16:46:35 UTC (rev 5517)
+++ paparazzi3/trunk/conf/telemetry/telemetry_test_passthrough.xml
2010-08-20 16:47:24 UTC (rev 5518)
@@ -16,7 +16,8 @@
<message name="IMU_GYRO" period="0.05"/>
<message name="IMU_ACCEL" period="0.05"/>
<message name="IMU_MAG" period="0.05"/>
- </mode>
+ <message name="BOOZ_BARO2_RAW" period="0.05"/>
+ </mode>
</process>
</telemetry>
\ No newline at end of file
Modified: paparazzi3/trunk/doc/buildsystem/buildsystem.dia
===================================================================
(Binary files differ)
Modified: paparazzi3/trunk/sw/airborne/adc.h
===================================================================
--- paparazzi3/trunk/sw/airborne/adc.h 2010-08-20 16:46:35 UTC (rev 5517)
+++ paparazzi3/trunk/sw/airborne/adc.h 2010-08-20 16:47:24 UTC (rev 5518)
@@ -1,22 +1,22 @@
/*
* Paparazzi adc functions
*
- * Copyright (C) 2003 Pascal Brisset, Antoine Drouin
+ * Copyright (C) 2003-2010 Paparazzi team
*
- * This file is part of paparazzi.
+ * This file is part of Paparazzi.
*
- * paparazzi is free software; you can redistribute it and/or modify
+ * Paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
- * paparazzi is distributed in the hope that it will be useful,
+ * Paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING. If not, write to
+ * along with Paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
Modified:
paparazzi3/trunk/sw/airborne/booz/arch/stm32/imu/booz_imu_aspirin_arch.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/arch/stm32/imu/booz_imu_aspirin_arch.h
2010-08-20 16:46:35 UTC (rev 5517)
+++ paparazzi3/trunk/sw/airborne/booz/arch/stm32/imu/booz_imu_aspirin_arch.h
2010-08-20 16:47:24 UTC (rev 5518)
@@ -10,6 +10,7 @@
extern void adxl345_clear_rx_buf(void);
extern void adxl345_start_reading_data(void);
+#if 0
#define OnI2CDone() { \
switch (imu_aspirin.status) { \
case AspirinStatusReadingGyro: \
@@ -26,5 +27,6 @@
break; \
} \
}
+#endif
#endif /* BOOZ_IMU_ASPIRIN_ARCH_H */
Modified: paparazzi3/trunk/sw/airborne/booz/booz2_debug.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_debug.h 2010-08-20 16:46:35 UTC
(rev 5517)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_debug.h 2010-08-20 16:47:24 UTC
(rev 5518)
@@ -24,6 +24,10 @@
#ifndef BOOZ2_DEBUG_H
#define BOOZ2_DEBUG_H
+#define MY_ASSERT(cond) { \
+ if (!(cond)) while(1); \
+ }
+
#ifdef BOOZ_DEBUG
#include "std.h"
Modified: paparazzi3/trunk/sw/airborne/booz/imu/booz_imu_aspirin.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/imu/booz_imu_aspirin.c 2010-08-20
16:46:35 UTC (rev 5517)
+++ paparazzi3/trunk/sw/airborne/booz/imu/booz_imu_aspirin.c 2010-08-20
16:47:24 UTC (rev 5518)
@@ -28,8 +28,8 @@
void booz_imu_periodic(void) {
if (imu_aspirin.status == AspirinStatusUninit) {
configure_gyro();
- configure_mag();
- // configure_accel();
+ // configure_mag();
+ configure_accel();
imu_aspirin.status = AspirinStatusIdle;
}
else
@@ -42,9 +42,14 @@
/* set gyro range to 2000deg/s and low pass at 256Hz */
i2c2.buf[0] = ITG3200_REG_DLPF_FS;
- i2c2.buf[1] = 0x03;
+ i2c2.buf[1] = (0x03<<3);
i2c2_transmit(ITG3200_ADDR, 2, &imu_aspirin.i2c_done);
while (!imu_aspirin.i2c_done);
+ /* set sample rate to 533Hz */
+ i2c2.buf[0] = ITG3200_REG_SMPLRT_DIV;
+ i2c2.buf[1] = 0x0E;
+ i2c2_transmit(ITG3200_ADDR, 2, &imu_aspirin.i2c_done);
+ while (!imu_aspirin.i2c_done);
/* switch to gyroX clock */
i2c2.buf[0] = ITG3200_REG_PWR_MGM;
i2c2.buf[1] = 0x01;
@@ -93,4 +98,5 @@
adxl345_clear_rx_buf();
/* reads data once to bring interrupt line up */
adxl345_start_reading_data();
+
}
Modified: paparazzi3/trunk/sw/airborne/booz/test/booz2_tunnel.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/test/booz2_tunnel.c 2010-08-20
16:46:35 UTC (rev 5517)
+++ paparazzi3/trunk/sw/airborne/booz/test/booz2_tunnel.c 2010-08-20
16:47:24 UTC (rev 5518)
@@ -28,7 +28,6 @@
#include "sys_time.h"
#include "led.h"
#include "uart.h"
-#include "interrupt_hw.h"
static inline void main_init( void );
static inline void main_periodic_task( void );
Modified: paparazzi3/trunk/sw/airborne/booz/test/booz_test_imu.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/test/booz_test_imu.c 2010-08-20
16:46:35 UTC (rev 5517)
+++ paparazzi3/trunk/sw/airborne/booz/test/booz_test_imu.c 2010-08-20
16:47:24 UTC (rev 5518)
@@ -131,7 +131,7 @@
static inline void on_mag_event(void) {
- BoozImuScaleMag();
+ BoozImuScaleMag(booz_imu);
static uint8_t cnt;
cnt++;
if (cnt > 1) cnt = 0;
Modified: paparazzi3/trunk/sw/airborne/fms/fms_autopilot_msg.h
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/fms_autopilot_msg.h 2010-08-20
16:46:35 UTC (rev 5517)
+++ paparazzi3/trunk/sw/airborne/fms/fms_autopilot_msg.h 2010-08-20
16:47:24 UTC (rev 5518)
@@ -93,8 +93,8 @@
int16_t rc_aux3;
int16_t rc_aux4;
uint8_t rc_status;
- float vane_angle1;
- float vane_angle2;
+ float vane_angle1;
+ float vane_angle2;
struct PTUpValidFlags valid;
uint32_t stm_msg_cnt;
uint32_t stm_crc_err_cnt;
Modified: paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough.c
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough.c 2010-08-20
16:46:35 UTC (rev 5517)
+++ paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough.c 2010-08-20
16:47:24 UTC (rev 5518)
@@ -114,6 +114,9 @@
otp.rc_status = in->rc_status;
+ otp.baro_abs = in->pressure_absolute;
+ otp.baro_diff = in->pressure_differential;
+
}
Modified: paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough.h
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough.h 2010-08-20
16:46:35 UTC (rev 5517)
+++ paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough.h 2010-08-20
16:47:24 UTC (rev 5518)
@@ -10,7 +10,9 @@
uint32_t io_proc_err_cnt;
uint16_t servos_outputs_usecs[6]; /* FIXME */
uint8_t rc_status;
-};
+ int16_t baro_abs;
+ int16_t baro_diff;
+ };
extern struct OveroTestPassthrough otp;
Modified: paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough_telemetry.h
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough_telemetry.h
2010-08-20 16:46:35 UTC (rev 5517)
+++ paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough_telemetry.h
2010-08-20 16:47:24 UTC (rev 5518)
@@ -24,6 +24,8 @@
#define PERIODIC_SEND_IMU_MAG(_transport) \
DOWNLINK_SEND_IMU_MAG(_transport, &otp.imu.mag.x, &otp.imu.mag.y,
&otp.imu.mag.z)
+#define PERIODIC_SEND_BOOZ_BARO2_RAW(_transport)
\
+ DOWNLINK_SEND_BOOZ_BARO2_RAW(_transport, &otp.baro_abs, &otp.baro_diff)
#endif /* OVERO_TEST_PASSTHROUGH_TELEMETRY_H */
Modified: paparazzi3/trunk/sw/airborne/fms/overo_test_telemetry2.c
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/overo_test_telemetry2.c 2010-08-20
16:46:35 UTC (rev 5517)
+++ paparazzi3/trunk/sw/airborne/fms/overo_test_telemetry2.c 2010-08-20
16:47:24 UTC (rev 5518)
@@ -15,7 +15,7 @@
#include "dl_protocol.h"
#include "fms_network.h"
-#define GCS_HOST "10.10.13.32"
+#define GCS_HOST "10.31.4.7"
#define GCS_PORT 4242
#define DATALINK_PORT 4243
Modified: paparazzi3/trunk/sw/airborne/fms/test_telemetry_2.c
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/test_telemetry_2.c 2010-08-20 16:46:35 UTC
(rev 5517)
+++ paparazzi3/trunk/sw/airborne/fms/test_telemetry_2.c 2010-08-20 16:47:24 UTC
(rev 5518)
@@ -11,7 +11,7 @@
#include "udp_transport.h"
#include "fms_network.h"
-#define GCS_HOST "192.168.1.100"
+#define GCS_HOST "10.31.4.7"
#define GCS_PORT 4242
#define TIMEOUT_DT_SEC 0
@@ -39,6 +39,8 @@
int main(int argc, char** argv) {
+ printf("hello world\n");
+
network = network_new(GCS_HOST, GCS_PORT);
/* Initalize the event library */
Modified: paparazzi3/trunk/sw/airborne/lisa/lisa_baro.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/lisa_baro.c 2010-08-20 16:46:35 UTC
(rev 5517)
+++ paparazzi3/trunk/sw/airborne/lisa/lisa_baro.c 2010-08-20 16:47:24 UTC
(rev 5518)
@@ -39,6 +39,7 @@
case LBS_INITIALIZING_DIFF:
baro_set_current_register(BARO_DIFF_ADDR, 0x00);
baro.status = LBS_INITIALIZING_DIFF_1;
+ // baro.status = LBS_UNINITIALIZED;
break;
case LBS_INITIALIZING_DIFF_1:
case LBS_READ_DIFF:
Modified: paparazzi3/trunk/sw/airborne/lisa/lisa_stm_passthrough_main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/lisa_stm_passthrough_main.c
2010-08-20 16:46:35 UTC (rev 5517)
+++ paparazzi3/trunk/sw/airborne/lisa/lisa_stm_passthrough_main.c
2010-08-20 16:47:24 UTC (rev 5518)
@@ -179,24 +179,25 @@
new_vane = TRUE;
int zero = 0;
DOWNLINK_SEND_VANE_SENSOR(DefaultChannel,
-
&(csc_vane_msg.vane_angle1),
-
&zero,
-
&zero,
-
&zero,
-
&zero,
-
&csc_vane_msg.vane_angle2,
-
&zero,
-
&zero,
-
&zero,
-
&zero);
+ &(csc_vane_msg.vane_angle1),
+ &zero,
+ &zero,
+ &zero,
+ &zero,
+ &csc_vane_msg.vane_angle2,
+ &zero,
+ &zero,
+ &zero,
+ &zero);
}
static inline void main_on_baro_diff(void) {
- new_baro_diff = TRUE;
+ new_baro_diff = TRUE;
+ RunOnceEvery(5,{DOWNLINK_SEND_BOOZ_BARO2_RAW(DefaultChannel, &baro.abs_raw,
&baro.diff_raw);});
}
static inline void main_on_baro_abs(void) {
- new_baro_abs = TRUE;
+ new_baro_abs = TRUE;
}
static inline void main_event(void) {
Modified: paparazzi3/trunk/sw/airborne/lisa/test/hs_gyro.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/test/hs_gyro.c 2010-08-20 16:46:35 UTC
(rev 5517)
+++ paparazzi3/trunk/sw/airborne/lisa/test/hs_gyro.c 2010-08-20 16:47:24 UTC
(rev 5518)
@@ -96,7 +96,7 @@
cnt++;
if (cnt > NB_SAMPLES) cnt = 0;
samples[cnt] = booz_imu.MEASURED_SENSOR;
- if (cnt == 19) {
+ if (cnt == NB_SAMPLES-1) {
DOWNLINK_SEND_IMU_HS_GYRO(DefaultChannel, &axis, NB_SAMPLES, samples);
}
Modified: paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_hmc5843.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_hmc5843.c 2010-08-20
16:46:35 UTC (rev 5517)
+++ paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_hmc5843.c 2010-08-20
16:47:24 UTC (rev 5518)
@@ -116,6 +116,8 @@
break;
}
+ // if (mag_state == 4) mag_state=1;
+
if (mag_state < INITIALISZED) mag_state++;
}
@@ -123,7 +125,7 @@
static inline void main_event_task( void ) {
- if (mag_state == INITIALISZED && mag_ready_for_read) {
+ if (mag_state == INITIALISZED && mag_ready_for_read && i2c_done) {
/* read mag */
i2c2_receive(HMC5843_ADDR, 7, &i2c_done);
reading_mag = TRUE;
@@ -195,5 +197,5 @@
if(EXTI_GetITStatus(EXTI_Line5) != RESET)
EXTI_ClearITPendingBit(EXTI_Line5);
- mag_ready_for_read = TRUE;
+ if (mag_state == INITIALISZED) mag_ready_for_read = TRUE;
}
Modified: paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_itg3200.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_itg3200.c 2010-08-20
16:46:35 UTC (rev 5517)
+++ paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_itg3200.c 2010-08-20
16:47:24 UTC (rev 5518)
@@ -90,6 +90,11 @@
});
switch (gyro_state) {
+
+ case 1:
+ i2c2.buf[0] = ITG3200_REG_TEMP_OUT_H;
+ i2c2_transmit(ITG3200_ADDR,1, &i2c_done);
+ break;
case 2:
/* set gyro range to 2000deg/s and low pass at 256Hz */
i2c2.buf[0] = ITG3200_REG_DLPF_FS;
@@ -123,6 +128,7 @@
break;
}
+ // if (gyro_state == 1) gyro_state = 0;
if (gyro_state < INITIALISZED) gyro_state++;
}
@@ -134,7 +140,7 @@
static inline void main_event_task( void ) {
- if (gyro_state == INITIALISZED && gyro_ready_for_read) {
+ if (gyro_state == INITIALISZED && gyro_ready_for_read && i2c_done) {
/* reads 8 bytes from address 0x1b */
i2c2.buf[0] = ITG3200_REG_TEMP_OUT_H;
i2c2_transceive(ITG3200_ADDR,1, 8, &i2c_done);
@@ -236,7 +242,7 @@
// DEBUG_S4_TOGGLE();
- gyro_ready_for_read = TRUE;
+ if (gyro_state == INITIALISZED) gyro_ready_for_read = TRUE;
// DEBUG_S4_OFF();
Modified: paparazzi3/trunk/sw/airborne/lisa/test/test_board.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/test/test_board.c 2010-08-20 16:46:35 UTC
(rev 5517)
+++ paparazzi3/trunk/sw/airborne/lisa/test/test_board.c 2010-08-20 16:47:24 UTC
(rev 5518)
@@ -97,15 +97,17 @@
}
static inline void main_init( void ) {
+
hw_init();
sys_time_init();
led_init();
-
+
baro_init();
- booz_actuators_pwm_hw_init();
+ booz_actuators_init();
+
+ // cur_test = TestTypeNone;
+ cur_test = TestTypeBldc;
- cur_test = TestTypeNone;
-
}
static inline void main_periodic_task( void ) {
@@ -151,7 +153,21 @@
static inline void test_baro_on_baro_diff(void);
static inline void test_baro_on_baro_abs(void);
static void test_baro_start(void) {all_led_green();}
-static void test_baro_periodic(void) { RunOnceEvery(2, {baro_periodic();}); }
+static void test_baro_periodic(void) {
+ RunOnceEvery(2, {baro_periodic();});
+ RunOnceEvery(100,{
+ DOWNLINK_SEND_I2C_ERRORS(DefaultChannel,
+ &i2c2_errors.ack_fail_cnt,
+ &i2c2_errors.miss_start_stop_cnt,
+ &i2c2_errors.arb_lost_cnt,
+ &i2c2_errors.over_under_cnt,
+ &i2c2_errors.pec_recep_cnt,
+ &i2c2_errors.timeout_tlow_cnt,
+ &i2c2_errors.smbus_alert_cnt,
+ &i2c2_errors.unexpected_event_cnt,
+ &i2c2_errors.last_unexpected_event);
+ });
+}
static void test_baro_event(void) {BaroEvent(test_baro_on_baro_abs,
test_baro_on_baro_diff);}
static inline void test_baro_on_baro_abs(void) {
RunOnceEvery(5,{DOWNLINK_SEND_BOOZ_BARO2_RAW(DefaultChannel, &baro.abs_raw,
&baro.diff_raw);});
@@ -160,16 +176,33 @@
RunOnceEvery(5,{DOWNLINK_SEND_BOOZ_BARO2_RAW(DefaultChannel, &baro.abs_raw,
&baro.diff_raw);});
}
+
/*
*
* Test motor controller
*
*/
+
static void test_bldc_start(void) {}
static void test_bldc_periodic(void) {
+
i2c1_buf[0] = 0x04;
i2c1_transmit(0x58, 1, NULL);
+
+ RunOnceEvery(100,{
+ DOWNLINK_SEND_I2C_ERRORS(DefaultChannel,
+ &i2c1_errors.ack_fail_cnt,
+ &i2c1_errors.miss_start_stop_cnt,
+ &i2c1_errors.arb_lost_cnt,
+ &i2c1_errors.over_under_cnt,
+ &i2c1_errors.pec_recep_cnt,
+ &i2c1_errors.timeout_tlow_cnt,
+ &i2c1_errors.smbus_alert_cnt,
+ &i2c1_errors.unexpected_event_cnt,
+ &i2c1_errors.last_unexpected_event);
+ });
}
+
static void test_bldc_event(void) {}
Modified: paparazzi3/trunk/sw/airborne/lisa/test/test_bswap.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/test/test_bswap.c 2010-08-20 16:46:35 UTC
(rev 5517)
+++ paparazzi3/trunk/sw/airborne/lisa/test/test_bswap.c 2010-08-20 16:47:24 UTC
(rev 5518)
@@ -1,6 +1,6 @@
#include <inttypes.h>
-//#include <byteswap.h>
+#include "init_hw.h"
#define MyByteSwap16(n) \
@@ -44,7 +44,10 @@
uint16_t foo = 12345;
uint16_t bar = MyByteSwap16(foo);
MyByteSwap16_1(foo,bar);
+ bar = __REV16(foo);
+
+
uint32_t a = 23456;
uint32_t b = MyByteSwap32(a);
MyByteSwap32_1(a,b);
Modified: paparazzi3/trunk/sw/airborne/lisa/test_baro2.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/test_baro2.c 2010-08-20 16:46:35 UTC
(rev 5517)
+++ paparazzi3/trunk/sw/airborne/lisa/test_baro2.c 2010-08-20 16:47:24 UTC
(rev 5518)
@@ -35,6 +35,7 @@
#include "downlink.h"
#include "lisa/lisa_baro.h"
+//#include "my_debug_servo.h"
static inline void main_init( void );
static inline void main_periodic_task( void );
@@ -60,6 +61,11 @@
hw_init();
sys_time_init();
baro_init();
+
+ // DEBUG_SERVO1_INIT();
+ // DEBUG_SERVO2_INIT();
+
+
}
@@ -69,18 +75,20 @@
RunOnceEvery(2, {baro_periodic();});
LED_PERIODIC();
RunOnceEvery(256, {DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);});
- RunOnceEvery(256, {
- DOWNLINK_SEND_I2C_ERRORS(DefaultChannel,
- &i2c2_errors.ack_fail_cnt,
- &i2c2_errors.miss_start_stop_cnt,
- &i2c2_errors.arb_lost_cnt,
- &i2c2_errors.over_under_cnt,
- &i2c2_errors.pec_recep_cnt,
- &i2c2_errors.timeout_tlow_cnt,
- &i2c2_errors.smbus_alert_cnt,
- &i2c2_errors.unexpected_event_cnt,
- &i2c2_errors.last_unexpected_event);
+ RunOnceEvery(256,
+ {
+ DOWNLINK_SEND_I2C_ERRORS(DefaultChannel,
+ &i2c2_errors.ack_fail_cnt,
+ &i2c2_errors.miss_start_stop_cnt,
+ &i2c2_errors.arb_lost_cnt,
+ &i2c2_errors.over_under_cnt,
+ &i2c2_errors.pec_recep_cnt,
+ &i2c2_errors.timeout_tlow_cnt,
+ &i2c2_errors.smbus_alert_cnt,
+ &i2c2_errors.unexpected_event_cnt,
+ &i2c2_errors.last_unexpected_event);
});
+
}
Modified: paparazzi3/trunk/sw/airborne/lisa/test_float.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/test_float.c 2010-08-20 16:46:35 UTC
(rev 5517)
+++ paparazzi3/trunk/sw/airborne/lisa/test_float.c 2010-08-20 16:47:24 UTC
(rev 5518)
@@ -55,8 +55,8 @@
d += 0.0025;
double d1 = sin(d);
- // float i = sqrt(f); // nok
- float i = powf(f1, f1); // nok
+ float i = sqrt(f); // ok
+ //float i = powf(f1, f1); // nok
//float i = atan2(f, f); // ok
RunOnceEvery(10, {DOWNLINK_SEND_TEST_FORMAT(DefaultChannel, &d1, &i);});
Modified: paparazzi3/trunk/sw/airborne/lisa/test_mc.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/test_mc.c 2010-08-20 16:46:35 UTC (rev
5517)
+++ paparazzi3/trunk/sw/airborne/lisa/test_mc.c 2010-08-20 16:47:24 UTC (rev
5518)
@@ -57,13 +57,13 @@
static inline void main_init( void ) {
hw_init();
sys_time_init();
- //main_i2c_init();
- test_gpios();
+ main_i2c_init();
+ test_gpios();
}
static inline void main_periodic_task( void ) {
- // main_test_send();
+ main_test_send();
LED_PERIODIC();
}
@@ -146,7 +146,7 @@
// return;
/* Snd data */
- I2C_SendData(I2C1, 0x00);
+ I2C_SendData(I2C1, 0x06);
/* Test on EV8 and clear it */
while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED));
Modified: paparazzi3/trunk/sw/airborne/lisa/test_mc2.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/test_mc2.c 2010-08-20 16:46:35 UTC
(rev 5517)
+++ paparazzi3/trunk/sw/airborne/lisa/test_mc2.c 2010-08-20 16:47:24 UTC
(rev 5518)
@@ -53,15 +53,8 @@
static inline void main_periodic_task( void ) {
- // LED_ON(4);
- // static uint16_t i = 1000;
- // if (i) i--;
- // else {
- // LED_OFF(4);
- LED_ON(5);
- i2c1_buf[0] = 0x04;
- i2c1_transmit(0x58, 1, &i2c_done);
- // }
+ i2c1_buf[0] = 0x04;
+ i2c1_transmit(0x58, 1, &i2c_done);
LED_PERIODIC();
Modified: paparazzi3/trunk/sw/airborne/lisa/test_periodic.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/test_periodic.c 2010-08-20 16:46:35 UTC
(rev 5517)
+++ paparazzi3/trunk/sw/airborne/lisa/test_periodic.c 2010-08-20 16:47:24 UTC
(rev 5518)
@@ -48,9 +48,9 @@
}
static inline void main_periodic( void ) {
- // LED_TOGGLE(1);
LED_PERIODIC();
+
}
Modified: paparazzi3/trunk/sw/airborne/main_ap.c
===================================================================
--- paparazzi3/trunk/sw/airborne/main_ap.c 2010-08-20 16:46:35 UTC (rev
5517)
+++ paparazzi3/trunk/sw/airborne/main_ap.c 2010-08-20 16:47:24 UTC (rev
5518)
@@ -1,7 +1,7 @@
/*
* $Id$
*
- * Copyright (C) 2003-2006 Pascal Brisset, Antoine Drouin
+ * Copyright (C) 2003-2010 Paparazzi team
*
* This file is part of paparazzi.
*
Modified: paparazzi3/trunk/sw/airborne/modules/ins/ins.h
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/ins/ins.h 2010-08-20 16:46:35 UTC
(rev 5517)
+++ paparazzi3/trunk/sw/airborne/modules/ins/ins.h 2010-08-20 16:47:24 UTC
(rev 5518)
@@ -85,17 +85,17 @@
#endif /** !SITL */
-#define InsEventCheckAndHandle(handler) { \
- if (InsBuffer()) { \
- ReadInsBuffer(); \
- } \
- if (ins_msg_received) { \
- LED_TOGGLE(2); \
- parse_ins_msg(); \
- handler; \
- ins_msg_received = FALSE; \
- } \
-}
+#define InsEventCheckAndHandle(handler) { \
+ if (InsBuffer()) { \
+ ReadInsBuffer(); \
+ } \
+ if (ins_msg_received) { \
+ LED_TOGGLE(2); \
+ parse_ins_msg(); \
+ handler; \
+ ins_msg_received = FALSE; \
+ } \
+ }
#endif /* INS_H */
Modified: paparazzi3/trunk/sw/airborne/stm32/adc_hw.h
===================================================================
--- paparazzi3/trunk/sw/airborne/stm32/adc_hw.h 2010-08-20 16:46:35 UTC (rev
5517)
+++ paparazzi3/trunk/sw/airborne/stm32/adc_hw.h 2010-08-20 16:47:24 UTC (rev
5518)
@@ -1,22 +1,22 @@
/*
- * $Id: adc_hw.h 2638 2008-08-18 01:30:27Z poine $
+ * $Id$
*
- * Copyright (C) 2008 Antoine Drouin
+ * Copyright (C) 2010 Paparazzi team
*
- * This file is part of paparazzi.
+ * This file is part of Paparazzi.
*
- * paparazzi is free software; you can redistribute it and/or modify
+ * Paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
- * paparazzi is distributed in the hope that it will be useful,
+ * Paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING. If not, write to
+ * along with Paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
@@ -25,6 +25,20 @@
#ifndef ADC_HW_H
#define ADC_HW_H
+/*
+ * Architecture dependant ADC functions for STM32
+ * For now only hard coded for Lisa/L
+ *
+ * Logic STM32
+ * ADC1 PC3 ADC13
+ * ADC2 PC5 ADC15
+ * ADC3 PB0 ADC8
+ * ADC4 PB1 ADC9
+ * ADC5 PB2 BOOT1
+ * PA0 ADC0 bat monitor
+ */
+
+
#define AdcBank0(x) (x)
#define AdcBank1(x) (x+NB_ADC)
Modified: paparazzi3/trunk/sw/airborne/stm32/stm32_vector_table.c
===================================================================
--- paparazzi3/trunk/sw/airborne/stm32/stm32_vector_table.c 2010-08-20
16:46:35 UTC (rev 5517)
+++ paparazzi3/trunk/sw/airborne/stm32/stm32_vector_table.c 2010-08-20
16:47:24 UTC (rev 5518)
@@ -308,9 +308,9 @@
*
*/
-void assert_param(void);
+//void assert_param(void);
-void assert_param(void){
+//void assert_param(void){
+//
+//}
-}
-
Modified: paparazzi3/trunk/sw/lib/ocaml/cserial.c
===================================================================
--- paparazzi3/trunk/sw/lib/ocaml/cserial.c 2010-08-20 16:46:35 UTC (rev
5517)
+++ paparazzi3/trunk/sw/lib/ocaml/cserial.c 2010-08-20 16:47:24 UTC (rev
5518)
@@ -46,7 +46,7 @@
int br = baudrates[Int_val(speed)];
- int fd = open(String_val(device), O_RDWR);
+ int fd = open(String_val(device), O_RDWR|O_NONBLOCK);
if (fd == -1) failwith("opening modem serial device : fd < 0");
Modified: paparazzi3/trunk/sw/simulator/nps/nps_autopilot_booz.c
===================================================================
--- paparazzi3/trunk/sw/simulator/nps/nps_autopilot_booz.c 2010-08-20
16:46:35 UTC (rev 5517)
+++ paparazzi3/trunk/sw/simulator/nps/nps_autopilot_booz.c 2010-08-20
16:47:24 UTC (rev 5518)
@@ -62,10 +62,10 @@
if (time < 8) { /* start with a little bit of hovering */
int32_t init_cmd[4];
- init_cmd[COMMAND_THRUST] = 0.2493*SUPERVISION_MAX_MOTOR;
- init_cmd[COMMAND_ROLL] = 0;
- init_cmd[COMMAND_PITCH] = 0;
- init_cmd[COMMAND_YAW] = 0;
+ init_cmd[COMMAND_THRUST] = 0.253*SUPERVISION_MAX_MOTOR;
+ init_cmd[COMMAND_ROLL] = 0;
+ init_cmd[COMMAND_PITCH] = 0;
+ init_cmd[COMMAND_YAW] = 0;
supervision_run(TRUE, FALSE, init_cmd);
}
for (uint8_t i=0; i<ACTUATORS_MKK_NB; i++)
Modified: paparazzi3/trunk/sw/simulator/scilab/q1d/q1d_ins.sci
===================================================================
--- paparazzi3/trunk/sw/simulator/scilab/q1d/q1d_ins.sci 2010-08-20
16:46:35 UTC (rev 5517)
+++ paparazzi3/trunk/sw/simulator/scilab/q1d/q1d_ins.sci 2010-08-20
16:47:24 UTC (rev 5518)
@@ -18,8 +18,14 @@
0 0 1 ];
B = [ dt^2/2 dt 0]';
- Qz = 0.01*dt;
- Qzd = 0.01 * dt^2/2;
+ Qz = 0.01*dt^2/2;
+ Qzd = 0.01*dt;
+
+ // FIXME: Qz and Qzd noise mismatch with dt
+ //Qz = 0.01*dt;
+ //Qzd = 0.01*dt^2/2;
+
+
Qbias = 0.0001 * dt;
Q = [ Qz 0 0
0 Qzd 0
Modified: paparazzi3/trunk/sw/simulator/scilab/q1d/q1d_run.sce
===================================================================
--- paparazzi3/trunk/sw/simulator/scilab/q1d/q1d_run.sce 2010-08-20
16:46:35 UTC (rev 5517)
+++ paparazzi3/trunk/sw/simulator/scilab/q1d/q1d_run.sce 2010-08-20
16:47:24 UTC (rev 5518)
@@ -61,7 +61,7 @@
end
if 1
k = find(time >= 5);
- fdm_param(k) = 0.5*fdm_mass;
+ fdm_param(k) = 0.75*fdm_mass;
end
@@ -213,3 +213,83 @@
drawnow();
end
+
+
+//
+// big filter play
+//
+exec("q1d_big_filter.sci");
+bfl_init(time);
+for i = 2:length(time)
+ bfl_predict(i, ctl_command(i-1), dt);
+ if modulo(i,5) == 0
+ bfl_update_baro(i, sensors_state(SENSORS_BARO,i));
+ end
+ bfl_update_accel(i, sensors_state(SENSORS_ACCEL,i), ctl_command(i-1));
+end
+
+set("current_figure",5);
+clf();
+f=get("current_figure");
+f.figure_name="Big Filter";
+drawlater();
+
+ subplot(4, 2, 1);
+ plot2d(time, sensors_state(SENSORS_BARO,:),3);
+ plot2d(time, bflt_state(BF_Z, :), 5);
+ plot2d(time, fdm_state(FDM_Z,:),2);
+ legends(["Estimation", "Truth", "Measurement"],[5 2 3], with_box=%f,
opt="ur");
+ xtitle('Z');
+
+ subplot(4, 2, 3);
+ plot2d(time, bflt_state(BF_ZD, :),5);
+ plot2d(time, fdm_state(FDM_ZD,:),2);
+ legends(["Estimation", "Truth"],[5 2], with_box=%f, opt="ur");
+ xtitle('ZD');
+
+ subplot(4, 2, 5);
+ plot2d(time, sensors_state(SENSORS_ACCEL_BIAS,:),2);
+ plot2d(time, bflt_state(BF_BIAS, :), 5);
+ legends(["Estimation", "Truth"],[5 2], with_box=%f, opt="ur");
+ xtitle('BIAS');
+
+ subplot(4, 2, 7);
+ plot2d(time, bflt_state(BF_C, :));
+ xtitle('C');
+
+
+ subplot(4, 2, 2);
+ foo=[];
+ for i=1:length(time)
+ foo = [foo bflt_cov(BF_Z, BF_Z, i)];
+ end
+ plot2d(time, foo);
+ xtitle('COV ZZ');
+
+
+ subplot(4, 2, 4);
+ foo=[];
+ for i=1:length(time)
+ foo = [foo bflt_cov(BF_ZD, BF_ZD, i)];
+ end
+ plot2d(time, foo);
+ xtitle('COV ZDZD');
+
+ subplot(4, 2, 6);
+ foo=[];
+ for i=1:length(time)
+ foo = [foo bflt_cov(BF_BIAS, BF_BIAS, i)];
+ end
+ plot2d(time, foo);
+ xtitle('COV BIASBIAS');
+
+ subplot(4, 2, 8);
+ foo=[];
+ for i=1:length(time)
+ foo = [foo bflt_cov(BF_C, BF_C, i)];
+ end
+ plot2d(time, foo);
+ xtitle('COV CC');
+
+ drawnow();
+
Modified: paparazzi3/trunk/sw/simulator/scilab/q3d/test_adapt.sce
===================================================================
--- paparazzi3/trunk/sw/simulator/scilab/q3d/test_adapt.sce 2010-08-20
16:46:35 UTC (rev 5517)
+++ paparazzi3/trunk/sw/simulator/scilab/q3d/test_adapt.sce 2010-08-20
16:47:24 UTC (rev 5518)
@@ -17,7 +17,7 @@
t0 = 0;
t1 = 4.;
-t2 = 8.;
+t2 = 10.;
dt = 1/512;
time1 = t0:dt:t1;
time2 = t1:dt:t2;
@@ -48,11 +48,12 @@
end
ctl_init(time);
-adp_init(time, [19.5 157]', []);
+adp_init(time, [16.5 110]', []);
sensors_init(time)
for i=2:length(time)
ctl_run(i-1, adp_est(1,i-1), adp_est(2,i-1));
+// ctl_run(i-1, 16, 100);
fdm_run(i, ctl_motor_cmd(:,i-1));
sensors_run(i);
adp_run(i);
Added: paparazzi3/trunk/sw/simulator/scilab/q6d/povray/test.pov
===================================================================
--- paparazzi3/trunk/sw/simulator/scilab/q6d/povray/test.pov
(rev 0)
+++ paparazzi3/trunk/sw/simulator/scilab/q6d/povray/test.pov 2010-08-20
16:47:24 UTC (rev 5518)
@@ -0,0 +1,12 @@
+
+
+#include "q6d.inc"
+
+
+object { Q6D(0,0,0,0,0,0)}
+
+
+object { AXIS_POVRAY(0,-1000,0,0,0,0) }
+
+
+object { AXIS_NED() }
Modified: paparazzi3/trunk/sw/tools/calibration/calibrate.py
===================================================================
--- paparazzi3/trunk/sw/tools/calibration/calibrate.py 2010-08-20 16:46:35 UTC
(rev 5517)
+++ paparazzi3/trunk/sw/tools/calibration/calibrate.py 2010-08-20 16:47:24 UTC
(rev 5518)
@@ -30,7 +30,6 @@
import calibration_utils
-
def main():
usage = "usage: %prog [options] log_filename"
parser = OptionParser(usage)
Modified: paparazzi3/trunk/sw/tools/calibration/calibrate_gyro.py
===================================================================
--- paparazzi3/trunk/sw/tools/calibration/calibrate_gyro.py 2010-08-20
16:46:35 UTC (rev 5517)
+++ paparazzi3/trunk/sw/tools/calibration/calibrate_gyro.py 2010-08-20
16:47:24 UTC (rev 5518)
@@ -1,22 +1,49 @@
#! /usr/bin/env python
-import calibration_utils
+# $Id$
+# Copyright (C) 2010 Antoine Drouin
+#
+# This file is part of Paparazzi.
+#
+# Paparazzi is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2, or (at your option)
+# any later version.
+#
+# Paparazzi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with Paparazzi; see the file COPYING. If not, write to
+# the Free Software Foundation, 59 Temple Place - Suite 330,
+# Boston, MA 02111-1307, USA.
+#
+
+#
+# calibrate gyrometers using turntable measurements
+#
+from optparse import OptionParser
+
import re
import scipy
from scipy import linspace, polyval, polyfit, sqrt, stats, randn
from pylab import *
+import calibration_utils
+
axis_p = 1
axis_q = 2
axis_r = 3
-ac_id = "153"
+ac_id = "160"
tt_id = "43"
-filename = "data/imu_lisa3/log_gyro_q"
-axis = axis_q
+filename =
"/home/poine/work/enac-lara/kahina/scilab/data/crista/log_gyro_r.data"
+axis = axis_r
#
# lisa 3
@@ -29,6 +56,11 @@
# q : a=-4369.63 b=33260.96, std error= 0.710
# r : a=-4577.13 b=32707.72, std error= 0.730
#
+# crista
+# p : a= 3864.82 b=31288.09, std error= 0.866
+# q : a= 3793.71 b=32593.89, std error= 3.070
+# r : a= 3817.11 b=32709.70, std error= 3.296
+#
samples = calibration_utils.read_turntable_log(ac_id, tt_id, filename, 1, 7)
@@ -39,6 +71,8 @@
(a_s,b_s,r,tt,stderr)=stats.linregress(t,xn)
print('Linear regression using stats.linregress')
print('regression: a=%.2f b=%.2f, std error= %.3f' % (a_s,b_s,stderr))
+print('<define name="GYRO_X_NEUTRAL" value="%d"/>' % (b_s));
+print('<define name="GYRO_X_SENS" value="%f" integer="16"/>' %
(a_s/pow(2,12)));
#
# overlay fited value
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