[paparazzi-commits] [5508] example airframe updates

[Felix Ruess]

Revision: 5508
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5508
Author:   flixr
Date:     2010-08-20 13:44:56 +0000 (Fri, 20 Aug 2010)
Log Message:
-----------
example airframe updates

Modified Paths:
--------------
    paparazzi3/trunk/conf/airframes/easystar_example.xml
    paparazzi3/trunk/conf/airframes/twinjet_example.xml
    paparazzi3/trunk/conf/airframes/twinstar_example.xml

Modified: paparazzi3/trunk/conf/airframes/easystar_example.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/easystar_example.xml        2010-08-20 
13:28:34 UTC (rev 5507)
+++ paparazzi3/trunk/conf/airframes/easystar_example.xml        2010-08-20 
13:44:56 UTC (rev 5508)
@@ -29,8 +29,8 @@
   </firmware>
 
   <firmware name="setup">
-    <target name="tunnel"              board="twog_1" />
-    <target name="setup_actuators"     board="twog_1" />
+    <target name="tunnel"              board="twog_1"/>
+    <target name="setup_actuators"     board="twog_1"/>
   </firmware>
 
 <!-- commands section -->

Modified: paparazzi3/trunk/conf/airframes/twinjet_example.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/twinjet_example.xml 2010-08-20 13:28:34 UTC 
(rev 5507)
+++ paparazzi3/trunk/conf/airframes/twinjet_example.xml 2010-08-20 13:44:56 UTC 
(rev 5508)
@@ -10,6 +10,33 @@
 
 <airframe name="Twinjet">
 
+  <firmware name="fixedwing">
+    <target name="ap"                  board="twog_1">
+      <define name="LOITER_TRIM"/>
+      <define name="ALT_KALMAN"/>
+      <define name="AGR_CLIMB"/>
+    </target>
+
+    <target name="sim"                         board="pc">
+      <define name="LOITER_TRIM"/>
+      <define name="ALT_KALMAN"/>
+      <define name="AGR_CLIMB"/>
+    </target>
+
+    <subsystem name="radio_control" type="ppm"/>
+    <subsystem name="telemetry"     type="transparent"/>
+    <subsystem name="actuators"     type="4017"/>
+    <subsystem name="attitude"      type="infrared"/>
+    <subsystem name="gyro"          type="roll"/>
+    <subsystem name="gps"           type="ublox_lea5h"/>
+    <subsystem name="navigation"/>
+  </firmware>
+
+  <firmware name="setup">
+    <target name="tunnel"              board="twog_1" />
+    <target name="setup_actuators"     board="twog_1" />
+  </firmware>
+
   <servos>
     <servo name="THROTTLE"      no="0" min="1000" neutral="1000" max="2000"/>
     <servo name="AILEVON_RIGHT" no="1" min="1230" neutral="1710" max="2100"/>
@@ -140,8 +167,7 @@
     <define name="HOME_RADIUS" value="50" unit="m"/>
   </section>
 
-
-   <section name="AGGRESSIVE" prefix="AGR_">
+  <section name="AGGRESSIVE" prefix="AGR_">
     <define name="CLIMB_THROTTLE" value="0.65"/><!-- Throttle for Aggressive 
Climb -->
     <define name="DESCENT_THROTTLE" value="0.1"/><!-- Throttle for Aggressive 
Decent -->
     <define name="CLIMB_PITCH" value="0.2"/><!-- Pitch for Aggressive Climb -->
@@ -150,52 +176,6 @@
     <define name="BLEND_END" value="10"/><!-- Altitude Error to Blend 
Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
     <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>
 
-  <makefile>
-BOARD_CFG = \"twog_v1.h\"
-
-# FLASH_MODE=ISP
-FLASH_MODE=IAP
-
-# Board Specifics
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
-
-# Fixed Wing Specifics
-include $(PAPARAZZI_SRC)/conf/autopilot/fixedwing_common.makefile
-include $(CFG_FIXEDWING)/fixedwing_autopilot.makefile
-include $(CFG_FIXEDWING)/subsystems/fixedwing_navigation.makefile
-
-# IO Options
-include $(CFG_FIXEDWING)/subsystems/fixedwing_radio_control_ppm.makefile
-include $(CFG_FIXEDWING)/subsystems/fixedwing_actuators_4017.makefile
-
-# Sensors
-include $(CFG_FIXEDWING)/subsystems/fixedwing_attitude_infrared.makefile
-include $(CFG_FIXEDWING)/subsystems/fixedwing_gyro.makefile
-
-### (UART 0, 38400baud) are the default GPS parameters, change and uncomment 
if needed
-#GPS_UART_NR   = 0
-#GPS_BAUD      = 38400
-include $(CFG_FIXEDWING)/subsystems/fixedwing_gps_ublox_lea5h.makefile
-
-### (UART 1, 57600baud) are default modem parameters, change and uncomment if 
needed
-#MODEM_UART_NR = 1
-#MODEM_BAUD = 57600
-include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_transparent.makefile
-
-
-# Special options
-ap.CFLAGS += -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO
-
-
-######################################
-# Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\"
-
-sim.CFLAGS += -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-
-
-  </makefile>
 </airframe>

Modified: paparazzi3/trunk/conf/airframes/twinstar_example.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/twinstar_example.xml        2010-08-20 
13:28:34 UTC (rev 5507)
+++ paparazzi3/trunk/conf/airframes/twinstar_example.xml        2010-08-20 
13:44:56 UTC (rev 5508)
@@ -11,6 +11,32 @@
 
 <airframe name="Twinstar">
 
+  <firmware name="fixedwing">
+    <target name="ap"                  board="twog_1">
+      <define name="LOITER_TRIM"/>
+      <define name="ALT_KALMAN"/>
+      <define name="AGR_CLIMB"/>
+    </target>
+
+    <target name="sim"                         board="pc">
+      <define name="LOITER_TRIM"/>
+      <define name="ALT_KALMAN"/>
+      <define name="AGR_CLIMB"/>
+    </target>
+
+    <subsystem name="radio_control" type="ppm"/>
+    <subsystem name="telemetry"     type="transparent"/>
+    <subsystem name="actuators"     type="4017"/>
+    <subsystem name="attitude"      type="infrared"/>
+    <subsystem name="gps"           type="ublox_lea4p"/>
+    <subsystem name="navigation"/>
+  </firmware>
+
+  <firmware name="setup">
+    <target name="tunnel"              board="twog_1"/>
+    <target name="setup_actuators"     board="twog_1"/>
+  </firmware>
+
 <!-- commands section -->
   <servos>
     <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>
@@ -135,8 +161,7 @@
     <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
 
-   <define name="THROTTLE_SLEW" value="0.1"/>
-
+    <define name="THROTTLE_SLEW" value="0.1"/>
   </section>
 
 
@@ -152,7 +177,7 @@
     <define name="PITCH_DGAIN" value="-1700."/>
 
     <define name="ELEVATOR_OF_ROLL" value="1500"/>
- </section>
+  </section>
 
   <section name="NAV">
     <define name="NAV_PITCH" value="0."/>
@@ -178,46 +203,4 @@
     <define name="HOME_RADIUS" value="100" unit="m"/>
   </section>
 
- <makefile>
-BOARD_CFG = \"twog_v1.h\"
-FLASH_MODE=IAP
-
-# Board Specifics
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
-
-# Fixed Wing Specifics
-include $(PAPARAZZI_SRC)/conf/autopilot/fixedwing_common.makefile
-include $(CFG_FIXEDWING)/fixedwing_autopilot.makefile
-include $(CFG_FIXEDWING)/subsystems/fixedwing_navigation.makefile
-
-# IO Options
-include $(CFG_FIXEDWING)/subsystems/fixedwing_radio_control_ppm.makefile
-include $(CFG_FIXEDWING)/subsystems/fixedwing_actuators_4017.makefile
-
-# Sensors
-include $(CFG_FIXEDWING)/subsystems/fixedwing_attitude_infrared.makefile
-
-### (UART 0, 38400baud) are the default GPS parameters, change and uncomment 
if needed
-#GPS_UART_NR   = 0
-#GPS_BAUD      = 38400
-include $(CFG_FIXEDWING)/subsystems/fixedwing_gps_ublox_lea4p.makefile
-
-### (UART 1, 57600baud) are default modem parameters, change and uncomment if 
needed
-#MODEM_UART_NR = 1
-#MODEM_BAUD = 57600
-include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_transparent.makefile
-
-
-# Special options
-ap.CFLAGS += -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO
-
-
-######################################
-# Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\"
-
-sim.CFLAGS += -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-
-  </makefile>
 </airframe>