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[paparazzi-commits] [5729] branches/HB: SAS Busca_Razor_40cm Busca_Razor
|
From: |
Oliver Riesener |
|
Subject: |
[paparazzi-commits] [5729] branches/HB: SAS Busca_Razor_40cm Busca_Razor_80cm TWOG_CHNI compiles now, SAS works fine |
|
Date: |
Fri, 27 Aug 2010 15:30:54 +0000 |
Revision: 5729
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5729
Author: olri
Date: 2010-08-27 15:30:54 +0000 (Fri, 27 Aug 2010)
Log Message:
-----------
branches/HB: SAS Busca_Razor_40cm Busca_Razor_80cm TWOG_CHNI compiles now, SAS
works fine
Modified Paths:
--------------
paparazzi3/branches/HB/trunk/bin/upload.sh
paparazzi3/branches/HB/trunk/conf/airframes/HB/extra/SAS.xml
paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/CHNI_Twog.xml
paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/HB_Busca1Razor.xml
paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/HB_Busca1Razor_klein.xml
paparazzi3/branches/HB/trunk/conf/conf.xml.HB
paparazzi3/branches/HB/trunk/conf/flight_plans/HB/stieglitz_chni.xml
paparazzi3/branches/HB/trunk/conf/radios/HB/mc16-20-HB-D1.xml
paparazzi3/branches/HB/trunk/conf/radios/HB/mc22-HB-D1.xml
paparazzi3/branches/HB/trunk/conf/radios/HB/mc22.xml
paparazzi3/branches/HB/trunk/conf/radios/HB/mx12-HB-D1.xml
paparazzi3/branches/HB/trunk/sw/airborne/baro_MP3H6115.c
paparazzi3/branches/HB/trunk/sw/airborne/baro_MP3H6115.h
paparazzi3/branches/HB/trunk/sw/airborne/bomb.h
paparazzi3/branches/HB/trunk/sw/airborne/main_ap.c
paparazzi3/branches/HB/trunk/sw/airborne/razor_imu.c
Modified: paparazzi3/branches/HB/trunk/bin/upload.sh
===================================================================
--- paparazzi3/branches/HB/trunk/bin/upload.sh 2010-08-27 15:29:59 UTC (rev
5728)
+++ paparazzi3/branches/HB/trunk/bin/upload.sh 2010-08-27 15:30:54 UTC (rev
5729)
@@ -2,5 +2,5 @@
#
# $Id:$ olri
#
-[ $# == 1 ] || { echo "Usage: $0 <AirframeName>"; exit 5; }
+[ $# = 1 ] || { echo "Usage: $0 <AirframeName>"; exit 5; }
make AIRCRAFT="$1" ap.upload
Modified: paparazzi3/branches/HB/trunk/conf/airframes/HB/extra/SAS.xml
===================================================================
--- paparazzi3/branches/HB/trunk/conf/airframes/HB/extra/SAS.xml
2010-08-27 15:29:59 UTC (rev 5728)
+++ paparazzi3/branches/HB/trunk/conf/airframes/HB/extra/SAS.xml
2010-08-27 15:30:54 UTC (rev 5729)
@@ -8,7 +8,7 @@
<servo name="THROTTLE" no="1" min="1000" neutral="1000" max="2000"/>
<servo name="AILERON" no="2" max="1000" neutral="1500" min="2000"/>
<servo name="ELEVATOR" no="3" max="2000" neutral="1500" min="1000"/>
- <servo name="KLAPPE" no="0" max="1000" neutral="1500" min="2000"/>
+ <servo name="HATCH" no="0" max="1000" neutral="1500" min="2000"/>
</servos>
@@ -16,21 +16,21 @@
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
- <axis name="KLAPPE" failsafe_value="0"/>
+ <axis name="HATCH" failsafe_value="0"/>
</commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
- <set command="KLAPPE" value="@KLAPPE"/>
+ <set command="HATCH" value="@HATCH"/>
</rc_commands>
<command_laws>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="AILERON" value="@ROLL"/>
<set servo="ELEVATOR" value="@PITCH"/>
- <set servo="KLAPPE" value="@KLAPPE"/>
+ <set servo="HATCH" value="@HATCH"/>
</command_laws>
<section name="AUTO1" prefix="AUTO1_">
Modified:
paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/CHNI_Twog.xml
===================================================================
--- paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/CHNI_Twog.xml
2010-08-27 15:29:59 UTC (rev 5728)
+++ paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/CHNI_Twog.xml
2010-08-27 15:30:54 UTC (rev 5729)
@@ -219,7 +219,7 @@
ap.srcs += $(SRC_ARCH)/adc_hw.c
-ap.srcs += razor_imu.c razor_util.c
+ap.srcs += razor_imu.c
#ap.srcs += kalman_hb.c
Modified:
paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/HB_Busca1Razor.xml
===================================================================
---
paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/HB_Busca1Razor.xml
2010-08-27 15:29:59 UTC (rev 5728)
+++
paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/HB_Busca1Razor.xml
2010-08-27 15:30:54 UTC (rev 5729)
@@ -272,7 +272,6 @@
ap.CFLAGS += -DRAZOR_IMU -DUSE_ADC_5 -DUSE_ADC_6 -DUSE_ADC_7
ap.srcs += razor_imu.c
-ap.srcs += razor_util.c
#ap.srcs += kalman_hb.c
ap.srcs += diydrones/dcm.c diydrones/arduimu.c diydrones/matrix.c
diydrones/read_adc.c diydrones/vector.c
@@ -285,8 +284,8 @@
#olri added scp1000
#olri
-ap.srcs += baro_scp.c
ap.CFLAGS += -DUSE_BARO_SCP
+ap.srcs += baro_scp.c $(SRC_ARCH)/baro_scp_hw.c
#olri
ap.srcs += commands.c
Modified:
paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/HB_Busca1Razor_klein.xml
===================================================================
---
paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/HB_Busca1Razor_klein.xml
2010-08-27 15:29:59 UTC (rev 5728)
+++
paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/HB_Busca1Razor_klein.xml
2010-08-27 15:30:54 UTC (rev 5729)
@@ -302,7 +302,7 @@
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c
main_ap.c main.c
ap.CFLAGS += -DRAZOR_IMU -DUSE_ADC_5 -DUSE_ADC_6 -DUSE_ADC_7
-ap.srcs += razor_imu.c razor_util.c
+ap.srcs += razor_imu.c
#ap.srcs += kalman_hb.c
ap.srcs += diydrones/dcm.c diydrones/arduimu.c diydrones/matrix.c
diydrones/read_adc.c diydrones/vector.c
@@ -315,8 +315,8 @@
#olri added scp1000
#olri
-ap.srcs += baro_scp.c
ap.CFLAGS += -DUSE_BARO_SCP
+ap.srcs += baro_scp.c $(SRC_ARCH)/baro_scp_hw.c
#olri
ap.srcs += commands.c
Modified: paparazzi3/branches/HB/trunk/conf/conf.xml.HB
===================================================================
--- paparazzi3/branches/HB/trunk/conf/conf.xml.HB 2010-08-27 15:29:59 UTC
(rev 5728)
+++ paparazzi3/branches/HB/trunk/conf/conf.xml.HB 2010-08-27 15:30:54 UTC
(rev 5729)
@@ -96,7 +96,7 @@
radio="radios/T9cap.xml"
telemetry="telemetry/default.xml"
flight_plan="flight_plans/dummy.xml"
- settings="settings/HB/demo5_settings.xml"
+ settings="settings/demo5_settings.xml"
gui_color="white"
/>
<aircraft
@@ -130,33 +130,13 @@
gui_color="white"
/>
<aircraft
- name="TJ1"
- ac_id="6"
- airframe="airframes/twinjet1.xml"
- radio="radios/cockpitMM.xml"
- telemetry="telemetry/default.xml"
- flight_plan="flight_plans/versatile.xml"
- settings="settings/tuning.xml settings/gyro.xml"
- gui_color="#ba6293"
- />
- <aircraft
name="TWOG_CHNI"
ac_id="84"
airframe="airframes/HB/fixed-wing/CHNI_Twog.xml"
radio="radios/HB/cockpitCHNI.xml"
telemetry="telemetry/default.xml"
- flight_plan="flight_plans/HB/strom_chni.xml"
+ flight_plan="flight_plans/HB/stieglitz_chni.xml"
settings="settings/tuning.xml"
gui_color="#ffffffffffff"
/>
- <aircraft
- name="Twin1"
- ac_id="1"
- airframe="airframes/twinstar1.xml"
- radio="radios/mc3030.xml"
- telemetry="telemetry/default.xml"
- flight_plan="flight_plans/mav05_cw.xml"
- settings="settings/basic.xml"
- gui_color="blue"
- />
</conf>
Modified: paparazzi3/branches/HB/trunk/conf/flight_plans/HB/stieglitz_chni.xml
===================================================================
--- paparazzi3/branches/HB/trunk/conf/flight_plans/HB/stieglitz_chni.xml
2010-08-27 15:29:59 UTC (rev 5728)
+++ paparazzi3/branches/HB/trunk/conf/flight_plans/HB/stieglitz_chni.xml
2010-08-27 15:30:54 UTC (rev 5729)
@@ -2,7 +2,6 @@
<flight_plan alt="80" ground_alt="9" lat0="52.959360" lon0="8.778601"
max_dist_from_home="275" name="Stieglitz" qfu="270" security_height="50">
<header>
- #include "razor_util.h"
#include "nav_line.h"
</header>
<waypoints>
Modified: paparazzi3/branches/HB/trunk/conf/radios/HB/mc16-20-HB-D1.xml
===================================================================
--- paparazzi3/branches/HB/trunk/conf/radios/HB/mc16-20-HB-D1.xml
2010-08-27 15:29:59 UTC (rev 5728)
+++ paparazzi3/branches/HB/trunk/conf/radios/HB/mc16-20-HB-D1.xml
2010-08-27 15:30:54 UTC (rev 5729)
@@ -46,7 +46,7 @@
<!-- Warmers Fernsteuerung neu-->
<!DOCTYPE radio SYSTEM "../radio.dtd">
-<radio name="Warmers_neu" data_min="900" data_max="2100" sync_min ="8000"
sync_max ="13000">
+<radio name="HB/mc16-20-HB-D1.xml" data_min="900" data_max="2100" sync_min
="8000" sync_max ="13000">
<channel ctl="D" function="THROTTLE" min="1070" neutral="1070" max="1880"
average="0"/>
<channel ctl="C" function="ROLL" min="1100" neutral="1500" max="1900"
average="0"/>
<channel ctl="B" function="PITCH" min="1900" neutral="1500" max="1100"
average="0"/>
Modified: paparazzi3/branches/HB/trunk/conf/radios/HB/mc22-HB-D1.xml
===================================================================
--- paparazzi3/branches/HB/trunk/conf/radios/HB/mc22-HB-D1.xml 2010-08-27
15:29:59 UTC (rev 5728)
+++ paparazzi3/branches/HB/trunk/conf/radios/HB/mc22-HB-D1.xml 2010-08-27
15:30:54 UTC (rev 5729)
@@ -59,11 +59,11 @@
<!-- ACHTUNG hier zählt die Reihenfolge, nicht der Buchstabe am Anfang!!! -->
-<radio name="Warmers_neu" data_min="900" data_max="2100" sync_min ="8000"
sync_max ="13000" pulse_type="NEGATIVE">
+<radio name="HB/mc22-HB-D1.xml" data_min="900" data_max="2100" sync_min
="8000" sync_max ="13000" pulse_type="NEGATIVE">
<channel ctl="A" function="THROTTLE" min="1000" neutral="1070" max="2000"
average="0"/>
<channel ctl="B" function="ROLL" max="1000" neutral="1500" min="2000"
average="0"/>
<channel ctl="C" function="PITCH" max="2000" neutral="1500" min="900"
average="0"/>
- <channel ctl="D" function="KLAPPE" min="1000" neutral="1100" max="2000"
average="1"/>
+ <channel ctl="D" function="HATCH" min="1000" neutral="1100" max="2000"
average="1"/>
<channel ctl="E" function="CALIB" min="1000" neutral="1500" max="2000"
average="0"/>
<channel ctl="F" function="YAW" min="1000" neutral="1500" max="2000"
average="0"/>
<channel ctl="G" function="GAIN2" min="1000" neutral="1500" max="2000"
average="1"/>
Modified: paparazzi3/branches/HB/trunk/conf/radios/HB/mc22.xml
===================================================================
--- paparazzi3/branches/HB/trunk/conf/radios/HB/mc22.xml 2010-08-27
15:29:59 UTC (rev 5728)
+++ paparazzi3/branches/HB/trunk/conf/radios/HB/mc22.xml 2010-08-27
15:30:54 UTC (rev 5729)
@@ -43,7 +43,7 @@
-->
<!DOCTYPE radio SYSTEM "radio.dtd">
-<radio name="GroupnerMC22" data_min="750" data_max="2750" sync_min="5000"
sync_max="15000" pulse_type="NEGATIVE">
+<radio name="HB/mc22.xml" data_min="750" data_max="2750" sync_min="5000"
sync_max="15000" pulse_type="NEGATIVE">
<channel ctl="A" function="THROTTLE" min="1100" neutral="1100" max="1900"
average="0"/> <!-- right stick up/down -->
<channel ctl="B" function="ROLL" min="1100" neutral="1500" max="1900"
average="0"/> <!-- right stick left/right -->
<channel ctl="C" function="PITCH" min="1100" neutral="1500" max="1900"
average="0"/> <!-- left stick up/down -->
Modified: paparazzi3/branches/HB/trunk/conf/radios/HB/mx12-HB-D1.xml
===================================================================
--- paparazzi3/branches/HB/trunk/conf/radios/HB/mx12-HB-D1.xml 2010-08-27
15:29:59 UTC (rev 5728)
+++ paparazzi3/branches/HB/trunk/conf/radios/HB/mx12-HB-D1.xml 2010-08-27
15:30:54 UTC (rev 5729)
@@ -46,7 +46,7 @@
<!-- Warmers Fernsteuerung neu-->
<!DOCTYPE radio SYSTEM "../radio.dtd">
-<radio name="Warmers_neu" data_min="900" data_max="2100" sync_min ="8000"
sync_max ="13000">
+<radio name="HB/mx12-HB-D1.xml" data_min="900" data_max="2100" sync_min
="8000" sync_max ="13000">
<channel ctl="D" function="THROTTLE" min="1070" neutral="1070" max="1880"
average="0"/>
<channel ctl="C" function="ROLL" min="1100" neutral="1500" max="1900"
average="0"/>
<channel ctl="B" function="PITCH" min="1900" neutral="1500" max="1100"
average="0"/>
Modified: paparazzi3/branches/HB/trunk/sw/airborne/baro_MP3H6115.c
===================================================================
--- paparazzi3/branches/HB/trunk/sw/airborne/baro_MP3H6115.c 2010-08-27
15:29:59 UTC (rev 5728)
+++ paparazzi3/branches/HB/trunk/sw/airborne/baro_MP3H6115.c 2010-08-27
15:30:54 UTC (rev 5729)
@@ -1,7 +1,7 @@
/*
* $Id: baro_MS5534A.c,v 1.2 2007/09/13 12:05:33 hecto Exp $
*
- * Copyright (C) 2008 Hochschule Bremen
+ * Copyright (C) 2008 Hochschule Bremen, Oliver Riesener
*
* This file is part of paparazzi.
*
@@ -137,6 +137,14 @@
// set available
baro_MP3H6115_available = TRUE;
}
+/*
+ * baro_delay(): used vin MP3H6115
+ */
+void baro_delay( void ) {
+ volatile int i,j;
+ for (i=0;i<1000;i++)
+ for (j=0;j<1000;j++);
+}
// NOTE:
/*
Modified: paparazzi3/branches/HB/trunk/sw/airborne/baro_MP3H6115.h
===================================================================
--- paparazzi3/branches/HB/trunk/sw/airborne/baro_MP3H6115.h 2010-08-27
15:29:59 UTC (rev 5728)
+++ paparazzi3/branches/HB/trunk/sw/airborne/baro_MP3H6115.h 2010-08-27
15:30:54 UTC (rev 5729)
@@ -60,6 +60,7 @@
void baro_MP3H6115_calibrate( void );
void baro_MP3H6115_event_task( void );
+void baro_delay( void );
#endif // USE_BARO_MP3H6115
#endif // BARO_MP3H6115_H
Modified: paparazzi3/branches/HB/trunk/sw/airborne/bomb.h
===================================================================
--- paparazzi3/branches/HB/trunk/sw/airborne/bomb.h 2010-08-27 15:29:59 UTC
(rev 5728)
+++ paparazzi3/branches/HB/trunk/sw/airborne/bomb.h 2010-08-27 15:30:54 UTC
(rev 5729)
@@ -1,7 +1,7 @@
#ifndef BOMB_H
#define BOMB_H
-#define MY_BOMB_RADIUS DEFAULT_CIRCLE_RADIUS
+#define BOMB_RADIUS DEFAULT_CIRCLE_RADIUS
extern unit_t bomb_compute_approach( uint8_t wp_target, uint8_t wp_start,
float radius );
extern unit_t bomb_update_release( uint8_t wp_target );
Modified: paparazzi3/branches/HB/trunk/sw/airborne/main_ap.c
===================================================================
--- paparazzi3/branches/HB/trunk/sw/airborne/main_ap.c 2010-08-27 15:29:59 UTC
(rev 5728)
+++ paparazzi3/branches/HB/trunk/sw/airborne/main_ap.c 2010-08-27 15:30:54 UTC
(rev 5729)
@@ -100,6 +100,7 @@
#ifdef USE_BARO_SCP
#include "baro_scp.h"
+#error olri
#endif
#ifdef USE_SPI
@@ -929,6 +930,7 @@
for( i=0; i<10; i++ ) // 10 = 3 sec, don't remove, average building in ADC
#endif
{
+ // baro_delay
baro_delay();
LED_TOGGLE(2);
// call calibrate
Modified: paparazzi3/branches/HB/trunk/sw/airborne/razor_imu.c
===================================================================
--- paparazzi3/branches/HB/trunk/sw/airborne/razor_imu.c 2010-08-27
15:29:59 UTC (rev 5728)
+++ paparazzi3/branches/HB/trunk/sw/airborne/razor_imu.c 2010-08-27
15:30:54 UTC (rev 5729)
@@ -152,11 +152,11 @@
mz = hmc5843_mag_z;
DOWNLINK_SEND_HB_FILTER( DefaultChannel,&time,
&accel[ACC_X],&accel[ACC_Y],&accel[ACC_Z],&gyro[G_ROLL],&gyro[G_PITCH],&gyro[G_YAW],&hmc5843_mag_h,&mx,&my,&mz,&angle[ANG_ROLL],&angle[ANG_PITCH],&angle[ANG_YAW],
&estimator_ir_phi, &estimator_ir_theta );
#else
- float heading = 0.0;
- DOWNLINK_SEND_HB_FILTER( DefaultChannel,&time,
&accel[ACC_X],&accel[ACC_Y],&accel[ACC_Z],&gyro[G_ROLL],&gyro[G_PITCH],&gyro[G_YAW],&heading,&mx,&my,&mz,&angle[ANG_ROLL],&angle[ANG_PITCH],&angle[ANG_YAW],
&estimator_ir_phi, &estimator_ir_theta );
+ float _heading = 0.0;
+ DOWNLINK_SEND_HB_FILTER( DefaultChannel,&time,
&accel[ACC_X],&accel[ACC_Y],&accel[ACC_Z],&gyro[G_ROLL],&gyro[G_PITCH],&gyro[G_YAW],&_heading,&mx,&my,&mz,&angle[ANG_ROLL],&angle[ANG_PITCH],&angle[ANG_YAW],
&estimator_ir_phi, &estimator_ir_theta );
#endif
//chni: DOWNLINK_SEND_HB_KALMAN_QUAT( DefaultChannel, &time,
&X_k[0],&X_k[1],&X_k[2],&X_k[3],&X_k[4],&X_k[5],&X_k[6]);
- LED_TOGGLE(1);
+// LED_TOGGLE(1);
}
@@ -263,7 +263,7 @@
razor_imu_update();
// run kalman_hb 20Hz = 50ms
- unsigned int dt_kalman=50;
+ //chni: unsigned int dt_kalman=50;
//chni: kalman_hb_run(dt_kalman);
Matrix_update();
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- [paparazzi-commits] [5729] branches/HB: SAS Busca_Razor_40cm Busca_Razor_80cm TWOG_CHNI compiles now, SAS works fine,
Oliver Riesener <=