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[paparazzi-commits] [5765] branches/HB: all usefull aircrafts @HB compil
|
From: |
Oliver Riesener |
|
Subject: |
[paparazzi-commits] [5765] branches/HB: all usefull aircrafts @HB compiles now |
|
Date: |
Tue, 31 Aug 2010 14:04:20 +0000 |
Revision: 5765
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5765
Author: olri
Date: 2010-08-31 14:04:20 +0000 (Tue, 31 Aug 2010)
Log Message:
-----------
branches/HB: all usefull aircrafts @HB compiles now
Modified Paths:
--------------
paparazzi3/branches/HB/trunk/ENV
paparazzi3/branches/HB/trunk/Makefile
paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/HB_Busca2.xml
paparazzi3/branches/HB/trunk/conf/conf.xml.HB
paparazzi3/branches/HB/trunk/conf/radios/HB/mc22-HB-D1.xml
paparazzi3/branches/HB/trunk/conf/settings/HB/tuning_hsb.xml
paparazzi3/branches/HB/trunk/hw/sensors/razor_imu.pdf
paparazzi3/branches/HB/trunk/sw/airborne/main_ap.c
Added Paths:
-----------
paparazzi3/branches/HB/trunk/bin/compile_all.sh
paparazzi3/branches/HB/trunk/conf/settings/HB/tuning_hsb_2.xml
Modified: paparazzi3/branches/HB/trunk/ENV
===================================================================
--- paparazzi3/branches/HB/trunk/ENV 2010-08-31 13:29:28 UTC (rev 5764)
+++ paparazzi3/branches/HB/trunk/ENV 2010-08-31 14:04:20 UTC (rev 5765)
@@ -1,2 +1,3 @@
export PAPARAZZI_HOME=`pwd`;
export PAPARAZZI_SRC=`pwd`;
+PATH=$PATH:$PAPARAZZI_SRC/bin
Modified: paparazzi3/branches/HB/trunk/Makefile
===================================================================
--- paparazzi3/branches/HB/trunk/Makefile 2010-08-31 13:29:28 UTC (rev
5764)
+++ paparazzi3/branches/HB/trunk/Makefile 2010-08-31 14:04:20 UTC (rev
5765)
@@ -20,7 +20,7 @@
# The default is to produce a quiet echo of compilation commands
# Launch with "make Q=''" to get full echo
-Q=@
+Q="" #@
ifeq ($(Q),@)
MAKEFLAGS += --no-print-directory
Added: paparazzi3/branches/HB/trunk/bin/compile_all.sh
===================================================================
--- paparazzi3/branches/HB/trunk/bin/compile_all.sh
(rev 0)
+++ paparazzi3/branches/HB/trunk/bin/compile_all.sh 2010-08-31 14:04:20 UTC
(rev 5765)
@@ -0,0 +1,29 @@
+#!/bin/sh
+#
+# $Id$
+#
+# SAS Busca_Razor_40cm Busca_Razor_80cm TWOG_CHNI Lerche MJ5 Busca2
+for i in SAS Busca_Razor_40cm Busca_Razor_80cm TWOG_CHNI Lerche MJ5 Busca2
+do
+ echo "###################### $i #######################"
+ (
+ make AIRCRAFT=$i clean_ac ap.compile
+ ) 2>&1 | egrep Total\|Error\|Fehler
+done
+
+for i in 1 2 # defect 3 4 5
+do
+ echo "###################### demo$i #######################"
+ (
+ make AIRCRAFT=DEMO clean_ac demo$i.compile
+ ) 2>&1 | egrep Total\|Error\|Fehler
+done
+
+# Busca1
+# Busca1Razor
+# Busca2G
+# Busca2GL
+# Busca2L
+# Busca3
+# DEMO
+# MJ5
Property changes on: paparazzi3/branches/HB/trunk/bin/compile_all.sh
___________________________________________________________________
Added: svn:executable
+ *
Modified:
paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/HB_Busca2.xml
===================================================================
--- paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/HB_Busca2.xml
2010-08-31 13:29:28 UTC (rev 5764)
+++ paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/HB_Busca2.xml
2010-08-31 14:04:20 UTC (rev 5765)
@@ -23,7 +23,7 @@
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
- <set command="HATCH" value="@GAIN1"/>
+ <set command="HATCH" value="@HATCH"/>
</rc_commands>
<section name="MIXER">
Modified: paparazzi3/branches/HB/trunk/conf/conf.xml.HB
===================================================================
--- paparazzi3/branches/HB/trunk/conf/conf.xml.HB 2010-08-31 13:29:28 UTC
(rev 5764)
+++ paparazzi3/branches/HB/trunk/conf/conf.xml.HB 2010-08-31 14:04:20 UTC
(rev 5765)
@@ -16,7 +16,7 @@
radio="radios/HB/mc22-HB-D1.xml"
telemetry="telemetry/default.xml"
flight_plan="flight_plans/HB/stieglitz.xml"
- settings="settings/HB/tuning_hsb.xml"
+ settings="settings/HB/tuning_hsb_2.xml"
gui_color="blue"
/>
<aircraft
@@ -76,7 +76,7 @@
radio="radios/HB/mc22-HB-D1.xml"
telemetry="telemetry/default.xml"
flight_plan="flight_plans/HB/stieglitz_chni.xml"
- settings="settings/HB/tuning_hsb.xml"
+ settings="settings/HB/tuning_hsb_2.xml"
gui_color="white"
/>
<aircraft
@@ -86,7 +86,7 @@
radio="radios/HB/mc22-HB-D1.xml"
telemetry="telemetry/default.xml"
flight_plan="flight_plans/HB/stieglitz_chni.xml"
- settings="settings/HB/tuning_hsb.xml"
+ settings="settings/HB/tuning_hsb_2.xml"
gui_color="white"
/>
<aircraft
@@ -126,7 +126,7 @@
radio="radios/HB/mc22-HB-D1.xml"
telemetry="telemetry/default.xml"
flight_plan="flight_plans/HB/hochschule.xml"
- settings="settings/HB/tuning_hsb.xml"
+ settings="settings/HB/tuning_hsb_2.xml"
gui_color="white"
/>
<aircraft
Modified: paparazzi3/branches/HB/trunk/conf/radios/HB/mc22-HB-D1.xml
===================================================================
--- paparazzi3/branches/HB/trunk/conf/radios/HB/mc22-HB-D1.xml 2010-08-31
13:29:28 UTC (rev 5764)
+++ paparazzi3/branches/HB/trunk/conf/radios/HB/mc22-HB-D1.xml 2010-08-31
14:04:20 UTC (rev 5765)
@@ -46,12 +46,13 @@
<!-- Warmers Fernsteuerung neu-->
<!DOCTYPE radio SYSTEM "../radio.dtd">
+
<!--<radio name="Warmers_neu" data_min="900" data_max="2100" sync_min ="8000"
sync_max ="13000" pulse_type="NEGATIVE">
-<channel ctl="D" function="THROTTLE" min="1070" neutral="1070" max="1880"
average="0"/>
+ <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"/>
<channel ctl="H" function="CALIB" min="1100" neutral="1500" max="1900"
average="0"/>
-<channel ctl="A" function="YAW" min="1320" neutral="1320" max="1520"
average="0"/>
+ <channel ctl="A" function="YAW" min="1320" neutral="1320" max="1520"
average="0"/>
<channel ctl="E" function="GAIN1" min="1100" neutral="1100" max="1900"
average="1"/>
<channel ctl="G" function="GAIN2" min="1100" neutral="1500" max="1900"
average="1"/>
<channel ctl="F" function="MODE" min="1100" neutral="1500" max="1900"
average="0"/>
Modified: paparazzi3/branches/HB/trunk/conf/settings/HB/tuning_hsb.xml
===================================================================
--- paparazzi3/branches/HB/trunk/conf/settings/HB/tuning_hsb.xml
2010-08-31 13:29:28 UTC (rev 5764)
+++ paparazzi3/branches/HB/trunk/conf/settings/HB/tuning_hsb.xml
2010-08-31 14:04:20 UTC (rev 5765)
@@ -14,9 +14,11 @@
<dl_settings NAME="mode">
<dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="autopilot"/>
<!--olri 20100717
+olri 20100717 -->
<dl_setting MAX="1" MIN="0" STEP="1" VAR="alt_baro_enabled"
module="baro_MP3H6115" />
-olri 20100717 -->
- <dl_setting MAX="1" MIN="0" STEP="1" VAR="alt_baro_enabled"
module="baro_scp" />
+<!--olri 20100830
+ <dl_setting MAX="1" MIN="0" STEP="1" VAR="alt_baro_enabled"
module="baro_scp" />
+-->
<dl_setting MAX="1" MIN="0" STEP="1" VAR="alt_kalman_enabled"
shortname="alt_kalman" module="estimator"/>
<dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time"
shortname="flight time"/>
<dl_setting MAX="1000" MIN="0" STEP="1" VAR="stage_time"/>
Added: paparazzi3/branches/HB/trunk/conf/settings/HB/tuning_hsb_2.xml
===================================================================
--- paparazzi3/branches/HB/trunk/conf/settings/HB/tuning_hsb_2.xml
(rev 0)
+++ paparazzi3/branches/HB/trunk/conf/settings/HB/tuning_hsb_2.xml
2010-08-31 14:04:20 UTC (rev 5765)
@@ -0,0 +1,113 @@
+<!DOCTYPE settings SYSTEM "../settings.dtd">
+
+<!-- A conf to use to tune a new A/C with SCP1000 -->
+
+<settings>
+ <dl_settings>
+
+ <dl_settings NAME="flight params">
+ <dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude"
shortname="altitude"/>
+ <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_east"/>
+ <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_north"/>
+ </dl_settings>
+
+ <dl_settings NAME="mode">
+ <dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="autopilot"/>
+<!--olri 20100717
+ <dl_setting MAX="1" MIN="0" STEP="1" VAR="alt_baro_enabled"
module="baro_MP3H6115" />
+olri 20100717 -->
+ <dl_setting MAX="1" MIN="0" STEP="1" VAR="alt_baro_enabled"
module="baro_scp" />
+ <dl_setting MAX="1" MIN="0" STEP="1" VAR="alt_kalman_enabled"
shortname="alt_kalman" module="estimator"/>
+ <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time"
shortname="flight time"/>
+ <dl_setting MAX="1000" MIN="0" STEP="1" VAR="stage_time"/>
+ <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
+ <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
+ <dl_setting MAX="2" MIN="0" STEP="1"
VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="downlink"/>
+ <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps_reset" module="gps_ubx"
handler="Reset" shortname="GPS reset"/>
+ <dl_setting MAX="1" MIN="0" STEP="1" VAR="power_switch"
module="autopilot" handler="SetPowerSwitch">
+ <strip_button name="Switch on" icon="on.png" value="1"/>
+ <strip_button name="Switch off" icon="off.png" value="0"/>
+ </dl_setting>
+ </dl_settings>
+
+ <dl_settings NAME="control">
+ <dl_settings NAME="ir">
+ <dl_setting MAX="15" MIN="-15" STEP="1" VAR="ir_roll_neutral"
shortname="roll neutral" module="infrared" param="IR_ROLL_NEUTRAL_DEFAULT"
unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
+
+<!-- <dl_setting MAX="0.3" MIN="-0.3" STEP="0.01" VAR="ir_roll_neutral"
shortname="roll_neutral"/> -->
+ <dl_setting MAX="0.5" MIN="-0.3" STEP="0.01" VAR="ir_pitch_neutral"
shortname="pitch_neutral"/>
+
+<!-- IR_CORRECTION_LEFT/UP/DOWN/RIGHT have to be defined in the airframe file
to use this
+ <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_left"
shortname="corr_left"/>
+ <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_right"
shortname="corr_right"/>
+ <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_up"
shortname="corr_up"/>
+ <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_down"
shortname="corr_down"/>
+-->
+<!-- olri weg
+ <dl_setting MAX="1.5" MIN="0.5" STEP="0.1"
VAR="ir_360_lateral_correction" shortname="360_lat_corr"/>
+ <dl_setting MAX="1.5" MIN="0.5" STEP="0.1"
VAR="ir_360_longitudinal_correction" shortname="360_log_corr"/>
+ <dl_setting MAX="1.5" MIN="0.5" STEP="0.1"
VAR="ir_360_vertical_correction" shortname="360_vert_corr"/>
+
+ <dl_setting MAX="1" MIN="0" STEP="1" VAR="ir_360" shortname="ir_360"/>
+-->
+ </dl_settings>
+
+
+ <dl_settings NAME="attitude">
+ <dl_setting MAX="5000" MIN="000" STEP="25" VAR="h_ctl_roll_pgain"
shortname="roll_pgain" module="fw_h_ctl"/>
+ <dl_setting MAX="1" MIN="0" STEP="0.05" VAR="h_ctl_roll_max_setpoint"
shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT"/>
+ <dl_setting MAX="000" MIN="-25000" STEP="250" VAR="h_ctl_pitch_pgain"
shortname="pitch_pgain" param="H_CTL_PITCH_PGAIN"/>
+ <dl_setting MAX="2" MIN="0." STEP="0.1" VAR="h_ctl_pitch_dgain"
shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/>
+ <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll"
shortname="elevator_of_roll" param="H_CTL_ELEVATOR_OF_ROLL"/>
+ <dl_setting MAX="5000" MIN="0" STEP="100"
VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
+ <dl_setting MAX="3.14" MIN="0" STEP="0.1" VAR="h_ctl_roll_max_setpoint"
shortname="Roll Maximal"/>
+
+ <dl_setting MAX="0" MIN="-15000" STEP="250"
VAR="h_ctl_roll_attitude_gain" shortname="roll attitude pgain"
param="H_CTL_ROLL_ATTITUDE_GAIN"/>
+ <dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_rate_gain"
shortname="roll rate gain" param="H_CTL_ROLL_RATE_GAIN"/>
+
+ </dl_settings>
+
+ <dl_settings name="alt">
+ <dl_setting MAX="0" MIN="-0.2" STEP="0.01" VAR="v_ctl_altitude_pgain"
shortname="alt_pgain"/>
+ </dl_settings>
+
+ <dl_settings name="auto_throttle">
+ <dl_setting MAX="1" MIN="0.0" STEP="0.05"
VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle"
module="fw_v_ctl" handler="SetCruiseThrottle"/>
+ <dl_setting MAX="0.00" MIN="-0.05" STEP="0.005"
VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain"/>
+ <dl_setting MAX="1.00" MIN="0.0" STEP="0.05"
VAR="v_ctl_auto_throttle_nominal_cruise_throttle" shortname="Nominal Cruise
Throttle"/>
+ <dl_setting MAX="1" MIN="0.0" STEP="0.05"
VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain"/>
+ <dl_setting MAX="2" MIN="0.0" STEP="0.1"
VAR="v_ctl_auto_throttle_dgain" shortname="throttle_dgain"/>
+
+<!-- also defines are neede in fw_v_ctl.h
+ <dl_setting MAX="0" MIN="-4000" STEP="100"
VAR="v_ctl_auto_throttle_dash_trim" shortname="dash trim"/>
+ <dl_setting MIN="0" MAX="3000" STEP="100"
VAR="v_ctl_auto_throttle_loiter_trim" shortname="loiter trim"/>
+-->
+
+ <dl_setting MAX="1" MIN="0" STEP="0.01"
VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr"/>
+ <dl_setting MAX="1" MIN="0" STEP="0.01"
VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz"/>
+ <dl_setting MAX="10" MIN="-10" STEP="0.1"
VAR="v_ctl_auto_throttle_pitch_of_vz_dgain" shortname="pitch_of_vz (d)"/>
+ </dl_settings>
+
+ <dl_settings name="auto_pitch">
+ <dl_setting MAX="-0.01" MIN="-0.1" STEP="0.01"
VAR="v_ctl_auto_pitch_pgain" shortname="pgain"/>
+ <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_pitch_igain"
shortname="igain"/>
+ </dl_settings>
+
+ <dl_settings name="nav">
+ <dl_setting MAX="-0.1" MIN="-10" STEP="0.05" VAR="h_ctl_course_pgain"
shortname="course pgain"/>
+ <dl_setting MAX="2" MIN="0" STEP="0.1" VAR="h_ctl_course_dgain"
shortname="course dgain"/>
+ <dl_setting MAX="2" MIN="0.1" STEP="0.05"
VAR="h_ctl_course_pre_bank_correction" shortname="pre bank cor"/>
+ <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="nav_glide_pitch_trim"
shortname="glide pitch trim"/>
+ <dl_setting MAX="1" MIN="0.02" STEP="0.01" VAR="h_ctl_roll_slew"
shortname="roll slew"/>
+ <dl_setting MAX="500" MIN="-500" STEP="5" VAR="nav_radius"/>
+ <dl_setting MAX="359" MIN="0" STEP="5" VAR="nav_course"/>
+ <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
+ <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="nav"
handler="IncreaseShift" shortname="inc. shift"/>
+ <dl_setting MAX="20" MIN="10" STEP="0.5"
VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
+ <dl_setting MAX="0." MIN="-0.05" STEP="0.01"
VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
+ <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
+ </dl_settings>
+ </dl_settings>
+
+ </dl_settings>
+</settings>
Modified: paparazzi3/branches/HB/trunk/hw/sensors/razor_imu.pdf
===================================================================
(Binary files differ)
Modified: paparazzi3/branches/HB/trunk/sw/airborne/main_ap.c
===================================================================
--- paparazzi3/branches/HB/trunk/sw/airborne/main_ap.c 2010-08-31 13:29:28 UTC
(rev 5764)
+++ paparazzi3/branches/HB/trunk/sw/airborne/main_ap.c 2010-08-31 14:04:20 UTC
(rev 5765)
@@ -100,7 +100,6 @@
#ifdef USE_BARO_SCP
#include "baro_scp.h"
-#error olri
#endif
#ifdef USE_SPI
@@ -917,7 +916,7 @@
#endif
#ifdef USE_BARO_MP3H6115
-#error warning using USE_BARO_MP3H6115
+#warning using USE_BARO_MP3H6115
baro_MP3H6115_init();
// setup time:
// IMU_GYRO gp ist OP Ausgangswert, wird zum Abgleich auf 2.5 Volt
eingestellt
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- [paparazzi-commits] [5765] branches/HB: all usefull aircrafts @HB compiles now,
Oliver Riesener <=