[paparazzi-commits] [6398] remove old microjet5 airframe, same one is still in obsolete dir

[Felix Ruess]

Revision: 6398
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6398
Author:   flixr
Date:     2010-11-11 15:15:20 +0000 (Thu, 11 Nov 2010)
Log Message:
-----------
remove old microjet5 airframe, same one is still in obsolete dir

Removed Paths:
-------------
    paparazzi-software/trunk/conf/airframes/microjet5.xml

Deleted: paparazzi-software/trunk/conf/airframes/microjet5.xml
===================================================================
--- paparazzi-software/trunk/conf/airframes/microjet5.xml       2010-11-11 
15:15:11 UTC (rev 6397)
+++ paparazzi-software/trunk/conf/airframes/microjet5.xml       2010-11-11 
15:15:20 UTC (rev 6398)
@@ -1,225 +0,0 @@
-<!DOCTYPE airframe SYSTEM "airframe.dtd">
-
-<!-- Microjet Multiplex (http://www.multiplex-rc.de/)
-     Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
-     Tilted infrared sensor
-     Transparent modem
--->
-
-<airframe name="Microjet 5 Tiny 2.11">
-<!--
-  <target name="fixedwing" board="tiny_2.11">
-    <subsystem name="radio_control" type="ppm"/>
-  </target>
--->
-  <servos>
-    <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>
-    <servo name="AILEVON_LEFT"  no="2" min="1130" neutral="1575" max="1880"/>
-    <servo name="AILEVON_RIGHT" no="6" min="1980" neutral="1465" max="1170"/>
-  </servos>
-
-  <commands>
-    <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL"     failsafe_value="0"/>
-    <axis name="PITCH"    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"/>
-  </rc_commands>
-
-  <section name="MIXER">
-    <define name="AILEVON_AILERON_RATE" value="0.75"/>
-    <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
-  </section>
-
-  <command_laws>
-    <let var="aileron"  value="@ROLL  * AILEVON_AILERON_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"/>
-  </command_laws>
-
-  <section name="AUTO1" prefix="AUTO1_">
-    <define name="MAX_ROLL" value="0.85"/>
-    <define name="MAX_PITCH" value="0.6"/>
-  </section>
-
-  <section name="adc" prefix="ADC_CHANNEL_">
-    <define name="IR1" value="ADC_1"/>
-    <define name="IR2" value="ADC_2"/>
-    <define name="IR_TOP" value="ADC_3"/>
-    <define name="IR_NB_SAMPLES" value="16"/>
-
-    <define name="GYRO_ROLL" value="ADC_3"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/>
-
-  </section>
-
-  <section name="INFRARED" prefix="IR_">
-    <define name="ADC_IR1_NEUTRAL" value="512"/>
-    <define name="ADC_IR2_NEUTRAL" value="512"/>
-    <define name="ADC_TOP_NEUTRAL" value="512"/>
-
-    <define name="LATERAL_CORRECTION" value="1."/>
-    <define name="LONGITUDINAL_CORRECTION" value="1."/>
-    <define name="VERTICAL_CORRECTION" value="1.5"/>
-
-    <define name="HORIZ_SENSOR_TILTED" value="1"/>
-    <define name="IR2_SIGN" value="-1"/>
-    <define name="TOP_SIGN" value="-1"/>
-
-    <define name="ROLL_NEUTRAL_DEFAULT" value="-3.6" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="5" unit="deg"/>
-
-    <define name="CORRECTION_UP" value="1."/>
-    <define name="CORRECTION_DOWN" value="1."/>
-    <define name="CORRECTION_LEFT" value="1."/>
-    <define name="CORRECTION_RIGHT" value="1."/>
-  </section>
-
- <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="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."/>
-  </section>
-
-  <section name="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="2000"/>
-
-    <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"/>
-    <define name="MAXIMUM_AIRSPEED" value="25." unit="m/s"/>
-    <define name="CARROT" value="5." unit="s"/>
-    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
-    <define name="CONTROL_RATE" value="60" unit="Hz"/>
-    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
-
-    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
-  </section>
-
-  <section name="VERTICAL CONTROL" prefix="V_CTL_">
-
-    <!-- outer loop proportional gain -->
-    <define name="ALTITUDE_PGAIN" value="-0.04"/>
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
-    <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.35"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
-    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
-    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" 
unit="%/(m/s)"/>
-    <define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
-    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
-
-    <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
-    <define name="AUTO_PITCH_IGAIN" value="0.075"/>
-    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
-    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
-
-   <define name="THROTTLE_SLEW" value="0.5"/>
-
-  </section>
-
-  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="-0.8"/>
-
-    <define name="ROLL_MAX_SETPOINT" value="0.7" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
-
-    <define name="PITCH_PGAIN" value="-10000."/>
-    <define name="PITCH_DGAIN" value="1.5"/>
-
-    <define name="ELEVATOR_OF_ROLL" value="2500"/>
-
-    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
-    <define name="ROLL_RATE_GAIN" value="-1500"/>
-  </section>
-
-  <section name="AGGRESSIVE" prefix="AGR_">
-    <define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate 
Aggressive Climb CANNOT BE ZERO!!-->
-    <define name="BLEND_END" value="10"/><!-- Altitude Error to Blend 
Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
-    <define name="CLIMB_THROTTLE" value="0.6"/><!-- Gaz for Aggressive Climb 
-->
-    <define name="CLIMB_PITCH" value="0.20"/><!-- Pitch for Aggressive Climb 
-->
-    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive 
Decent -->
-    <define name="DESCENT_PITCH" value="-0.15"/><!-- Pitch for Aggressive 
Decent -->
-    <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for 
Altitude Error Equal to Start Altitude -->
-    <define name="DESCENT_NAV_RATIO" value="1.0"/>
-    </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"/>
-  </section>
-
- <makefile>
-CONFIG = \"tiny_2_1_1.h\"
-
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
-
-FLASH_MODE=IAP
-
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
-ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c 
main_ap.c main.c
-
-ap.srcs += commands.c
-
-ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
-ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
-
-#
-# Commented out thanks to the above "target" xml thingy
-#
-#ap.CFLAGS += -DRADIO_CONTROL
-#ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
-
-ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport 
-DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 
-DDATALINK=PPRZ -DUART1_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.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_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
-ap.srcs += gps_ubx.c gps.c latlong.c
-
-ap.CFLAGS += -DINFRARED -DALT_KALMAN
-ap.srcs += infrared.c estimator.c
-
-ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
-
-ap.CFLAGS += -DGYRO -DADXRS150
-ap.srcs += gyro.c
-ap.srcs += nav_line.c nav_survey_rectangle.c
-
-# 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 += nav_survey_rectangle.c traffic_info.c nav_line.c
-  </makefile>
-</airframe>