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[paparazzi-commits] [5653] made control loops a seperate subsystem
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From: |
Felix Ruess |
|
Subject: |
[paparazzi-commits] [5653] made control loops a seperate subsystem |
|
Date: |
Tue, 24 Aug 2010 12:01:22 +0000 |
Revision: 5653
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5653
Author: flixr
Date: 2010-08-24 12:01:21 +0000 (Tue, 24 Aug 2010)
Log Message:
-----------
made control loops a seperate subsystem
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/AirborneCodeReorg/LisaFw.xml
paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml
paparazzi3/trunk/conf/airframes/delta_wing_minimal_example.xml
paparazzi3/trunk/conf/airframes/easy_glider_example.xml
paparazzi3/trunk/conf/airframes/easystar_ets_example.xml
paparazzi3/trunk/conf/airframes/easystar_example.xml
paparazzi3/trunk/conf/airframes/funjet_example.xml
paparazzi3/trunk/conf/airframes/mentor_tum.xml
paparazzi3/trunk/conf/airframes/microjet_example.xml
paparazzi3/trunk/conf/airframes/twinjet_example.xml
paparazzi3/trunk/conf/airframes/twinstar_example.xml
paparazzi3/trunk/conf/autopilot/fixedwing.xml
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/navigation.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/navigation_extra.makefile
Added Paths:
-----------
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/control.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/control_adaptive.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/control_new.makefile
Modified: paparazzi3/trunk/conf/airframes/AirborneCodeReorg/LisaFw.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/AirborneCodeReorg/LisaFw.xml
2010-08-24 11:46:07 UTC (rev 5652)
+++ paparazzi3/trunk/conf/airframes/AirborneCodeReorg/LisaFw.xml
2010-08-24 12:01:21 UTC (rev 5653)
@@ -171,8 +171,8 @@
</target>
<target name="sim" board="pc" />
<subsystem name="navigation"/>
+ <subsystem name="control"/>
-
<!-- Communication -->
<subsystem name="telemetry" type="transparent">
<param name="MODEM_UART_NR" value="2"/>
Modified: paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml
2010-08-24 11:46:07 UTC (rev 5652)
+++ paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml
2010-08-24 12:01:21 UTC (rev 5653)
@@ -177,7 +177,7 @@
<!-- Actuators -->
<subsystem name="actuators" type="4017"/>
-
+ <subsystem name="control"/>
<!-- Sensors -->
<subsystem name="gyro" type="roll"/>
<subsystem name="attitude" type="infrared"/>
Modified: paparazzi3/trunk/conf/airframes/delta_wing_minimal_example.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/delta_wing_minimal_example.xml
2010-08-24 11:46:07 UTC (rev 5652)
+++ paparazzi3/trunk/conf/airframes/delta_wing_minimal_example.xml
2010-08-24 12:01:21 UTC (rev 5653)
@@ -17,6 +17,7 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="actuators" type="4017"/>
+ <subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="navigation"/>
Modified: paparazzi3/trunk/conf/airframes/easy_glider_example.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/easy_glider_example.xml 2010-08-24
11:46:07 UTC (rev 5652)
+++ paparazzi3/trunk/conf/airframes/easy_glider_example.xml 2010-08-24
12:01:21 UTC (rev 5653)
@@ -167,7 +167,7 @@
<!-- Actuators -->
<subsystem name="actuators" type="4015"/>
-
+ <subsystem name="control"/>
<!-- Sensors -->
<subsystem name="adc" type="generic">
<param name="ADC_GENERIC1" value="ADC_7"/> <!-- current sensor -->
Modified: paparazzi3/trunk/conf/airframes/easystar_ets_example.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/easystar_ets_example.xml 2010-08-24
11:46:07 UTC (rev 5652)
+++ paparazzi3/trunk/conf/airframes/easystar_ets_example.xml 2010-08-24
12:01:21 UTC (rev 5653)
@@ -27,10 +27,11 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="actuators" type="4017"/>
+ <subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="airspeed" type="ets"/>
- <subsystem name="navigation"/>
+ <subsystem name="navigation" type="extra"/>
</firmware>
<firmware name="setup">
Modified: paparazzi3/trunk/conf/airframes/easystar_example.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/easystar_example.xml 2010-08-24
11:46:07 UTC (rev 5652)
+++ paparazzi3/trunk/conf/airframes/easystar_example.xml 2010-08-24
12:01:21 UTC (rev 5653)
@@ -23,6 +23,7 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="actuators" type="4017"/>
+ <subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="navigation"/>
Modified: paparazzi3/trunk/conf/airframes/funjet_example.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/funjet_example.xml 2010-08-24 11:46:07 UTC
(rev 5652)
+++ paparazzi3/trunk/conf/airframes/funjet_example.xml 2010-08-24 12:01:21 UTC
(rev 5653)
@@ -27,7 +27,7 @@
<!-- Actuators -->
<subsystem name="actuators" type="4017"/>
-
+ <subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea5h"/>
Modified: paparazzi3/trunk/conf/airframes/mentor_tum.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/mentor_tum.xml 2010-08-24 11:46:07 UTC
(rev 5652)
+++ paparazzi3/trunk/conf/airframes/mentor_tum.xml 2010-08-24 12:01:21 UTC
(rev 5653)
@@ -28,6 +28,7 @@
<!--<define name="TELEMETRY_MODE_FBW" value="1"/>-->
<subsystem name="telemetry" type="transparent"/>
<subsystem name="actuators" type="4017"/>
+ <subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="navigation" type="extra"/>
Modified: paparazzi3/trunk/conf/airframes/microjet_example.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/microjet_example.xml 2010-08-24
11:46:07 UTC (rev 5652)
+++ paparazzi3/trunk/conf/airframes/microjet_example.xml 2010-08-24
12:01:21 UTC (rev 5653)
@@ -177,7 +177,7 @@
<!-- Actuators -->
<subsystem name="actuators" type="4017"/>
-
+ <subsystem name="control"/>
<!-- Sensors -->
<subsystem name="gyro" type="roll"/>
<subsystem name="attitude" type="infrared">
Modified: paparazzi3/trunk/conf/airframes/twinjet_example.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/twinjet_example.xml 2010-08-24 11:46:07 UTC
(rev 5652)
+++ paparazzi3/trunk/conf/airframes/twinjet_example.xml 2010-08-24 12:01:21 UTC
(rev 5653)
@@ -26,6 +26,7 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="actuators" type="4017"/>
+ <subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="gyro" type="roll"/>
<subsystem name="gps" type="ublox_lea5h"/>
Modified: paparazzi3/trunk/conf/airframes/twinstar_example.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/twinstar_example.xml 2010-08-24
11:46:07 UTC (rev 5652)
+++ paparazzi3/trunk/conf/airframes/twinstar_example.xml 2010-08-24
12:01:21 UTC (rev 5653)
@@ -27,6 +27,7 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="actuators" type="4017"/>
+ <subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea4p"/>
<subsystem name="navigation"/>
Modified: paparazzi3/trunk/conf/autopilot/fixedwing.xml
===================================================================
--- paparazzi3/trunk/conf/autopilot/fixedwing.xml 2010-08-24 11:46:07 UTC
(rev 5652)
+++ paparazzi3/trunk/conf/autopilot/fixedwing.xml 2010-08-24 12:01:21 UTC
(rev 5653)
@@ -21,6 +21,7 @@
</subsystem>
<!-- Actuators -->
<subsystem name="actuators" types="4015|4017|ppm"/>
+ <subsystem name="control" types="NONE|adaptive|new"/>
<!-- Sensors -->
<subsystem name="gyro" types="roll|pitch">
<param name="ADC_GYRO_ROLL" value="ADC_3"/><!-- this is already the
default if not set, change if needed -->
Added: paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/control.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/control.makefile
(rev 0)
+++ paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/control.makefile
2010-08-24 12:01:21 UTC (rev 5653)
@@ -0,0 +1,4 @@
+# Standard fixed wing control loops
+
+
+ap.srcs += $(SRC_FIXEDWING)/fw_h_ctl.c $(SRC_FIXEDWING)/fw_v_ctl.c
Added:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/control_adaptive.makefile
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/control_adaptive.makefile
(rev 0)
+++
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/control_adaptive.makefile
2010-08-24 12:01:21 UTC (rev 5653)
@@ -0,0 +1,4 @@
+# fixed wing control loops with adaptive horizontal control
+
+
+ap.srcs += $(SRC_FIXEDWING)/fw_h_ctl_a.c $(SRC_FIXEDWING)/fw_v_ctl.c
Added: paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/control_new.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/control_new.makefile
(rev 0)
+++ paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/control_new.makefile
2010-08-24 12:01:21 UTC (rev 5653)
@@ -0,0 +1,4 @@
+# new fixed wing control loops with merged auto pitch and auto throttle,
adaptive horizontal control
+
+
+ap.srcs += $(SRC_FIXEDWING)/fw_h_ctl_a.c $(SRC_FIXEDWING)/fw_v_ctl_n.c
Modified:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/navigation.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/navigation.makefile
2010-08-24 11:46:07 UTC (rev 5652)
+++ paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/navigation.makefile
2010-08-24 12:01:21 UTC (rev 5653)
@@ -4,7 +4,7 @@
#add these to all targets
$(TARGET).CFLAGS += -DNAV
-$(TARGET).srcs += $(SRC_FIXEDWING)/nav.c $(SRC_FIXEDWING)/fw_h_ctl.c
$(SRC_FIXEDWING)/fw_v_ctl.c
+$(TARGET).srcs += $(SRC_FIXEDWING)/nav.c
$(TARGET).srcs += $(SRC_FIXEDWING)/traffic_info.c
$(TARGET).srcs += $(SRC_FIXEDWING)/nav_survey_rectangle.c
$(SRC_FIXEDWING)/nav_line.c
Modified:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/navigation_extra.makefile
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/navigation_extra.makefile
2010-08-24 11:46:07 UTC (rev 5652)
+++
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/navigation_extra.makefile
2010-08-24 12:01:21 UTC (rev 5653)
@@ -4,7 +4,7 @@
#add these to all targets
$(TARGET).CFLAGS += -DNAV
-$(TARGET).srcs += $(SRC_FIXEDWING)/nav.c $(SRC_FIXEDWING)/fw_h_ctl.c
$(SRC_FIXEDWING)/fw_v_ctl.c
+$(TARGET).srcs += $(SRC_FIXEDWING)/nav.c
$(TARGET).srcs += $(SRC_FIXEDWING)/traffic_info.c
$(TARGET).srcs += $(SRC_FIXEDWING)/nav_survey_rectangle.c
$(SRC_FIXEDWING)/nav_line.c
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