/
control_panel.xml.example
241 lines (195 loc) · 9.16 KB
/
control_panel.xml.example
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
<?xml version="1.0"?>
<control_panel name="paparazzi control panel">
<section name="variables">
<variable name="downlink_serial_port" value="/dev/ttyUSB0"/>
<variable name="fbw_serial_port" value="/dev/ttyS1"/>
<variable name="ap_serial_port" value="/dev/ttyS0"/>
<variable name="ivy_bus" value="127:2010"/>
<variable name="map" value="muret_UTM.xml"/>
<variable name="flight_plan" value="flight_plans/muret1.xml"/>
</section>
<section name="programs">
<program name="Server" command="sw/ground_segment/tmtc/server">
<arg flag="-b" variable="ivy_bus"/>
</program>
<program name="Data Link" command="sw/ground_segment/tmtc/link">
<arg flag="-b" variable="ivy_bus"/>
</program>
<program name="GCS" command="sw/ground_segment/cockpit/gcs">
<arg flag="-b" variable="ivy_bus"/>
</program>
<program name="Flight Plan Editor" command="sw/ground_segment/cockpit/gcs -edit">
</program>
<program name="Messages" command="sw/ground_segment/tmtc/messages">
<arg flag="-b" variable="ivy_bus"/>
</program>
<program name="Messages (Python)" command="sw/ground_segment/python/messages_app/messagesapp.py"/>
<program name="Settings" command="sw/ground_segment/tmtc/settings">
<arg flag="-b" variable="ivy_bus"/>
</program>
<program name="Settings (Python)" command="sw/ground_segment/python/settings_app/settingsapp.py"/>
<program name="GPSd position display" command ="sw/ground_segment/tmtc/gpsd2ivy"/>
<program name="Log Plotter" command ="sw/logalizer/plot"/>
<program name="Real-time Plotter" command ="sw/logalizer/plotter"/>
<program name="Log File Player" command="sw/logalizer/play">
<arg flag="-b" variable="ivy_bus"/>
</program>
<program name="Simulator" command="sw/simulator/launchsitl">
<arg flag="-b" variable="ivy_bus"/>
</program>
<program name="Hardware in the Loop" command="sw/simulator/simhitl">
<arg flag="-fbw" variable="fbw_serial_port"/>
<arg flag="-ap" variable="ap_serial_port"/>
</program>
<program name="Environment Simulator" command="sw/simulator/gaia">
<arg flag="-b" variable="ivy_bus"/>
</program>
<program name="Http Server" command="sw/ground_segment/tmtc/boa"/>
<program name="Weather Station" command="sw/ground_segment/misc/davis2ivy">
<arg flag="-b" variable="ivy_bus"/>
<arg flag="-d" constant="/dev/ttyUSB1"/>
</program>
</section>
<section name="sessions">
<session name="Flight USB-serial@9600">
<program name="Data Link">
<arg flag="-d" constant="/dev/ttyUSB0"/>
</program>
<program name="Server"/>
<program name="GCS"/>
</session>
<session name="Flight USB-serial@57600">
<program name="Data Link">
<arg flag="-d" constant="/dev/ttyUSB0"/>
<arg flag="-s" constant="57600"/>
</program>
<program name="Server"/>
<program name="GCS"/>
</session>
<session name="Flight USB-XBee-API@57600">
<program name="Data Link">
<arg flag="-d" constant="/dev/paparazzi/xbee"/>
<arg flag="-transport" constant="xbee"/>
<arg flag="-s" constant="57600"/>
</program>
<program name="Server"/>
<program name="GCS"/>
</session>
<session name="HITL">
<program name="Hardware in the Loop">
<arg flag="-a" constant="HITL"/>
<arg flag="-noground"/>
<arg flag="-boot"/>
</program>
<program name="GCS"/>
<program name="Data Link">
<arg flag="-s" constant="57600"/>
</program>
<program name="Server"/>
</session>
<session name="Booz simulation : AHRS">
<program name="Messages">
<arg flag="-c" constant="telemetry"/>
</program>
<program name="Real-time Plotter">
<arg flag="-t" constant="rate : p"/>
<arg flag="-g" constant="0+450:830x450"/>
<arg flag="-u" constant="0.1"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_SIM_RATE_ATTITUDE:p'"/>
<arg flag="-c" constant="'*:telemetry:IMU_GYRO:gp:57.3'"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_RATE_LOOP:est_p:57.3'"/>
</program>
<program name="Real-time Plotter">
<arg flag="-t" constant="rate : q"/>
<arg flag="-u" constant="0.1"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_SIM_RATE_ATTITUDE:q'"/>
<arg flag="-c" constant="'*:telemetry:IMU_GYRO:gq:57.3'"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_RATE_LOOP:est_q:57.3'"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_RATE_LOOP:sp_q:57.3'"/>
</program>
<program name="Real-time Plotter">
<arg flag="-t" constant="rate : r"/>
<arg flag="-u" constant="0.1"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_SIM_RATE_ATTITUDE:r'"/>
<arg flag="-c" constant="'*:telemetry:IMU_GYRO:gr:57.3'"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_RATE_LOOP:est_r:57.3'"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_RATE_LOOP:sp_r:57.3'"/>
</program>
<program name="Real-time Plotter">
<arg flag="-t" constant="attitude : phi"/>
<arg flag="-u" constant="0.1"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_SIM_RATE_ATTITUDE:phi'"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_ATT_LOOP:est_phi:57.3'"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_ATT_LOOP:sp_phi:57.3'"/>
<arg flag="-c" constant="'*:telemetry:AHRS_MEASURE:phi:57.3'"/>
</program>
<program name="Real-time Plotter">
<arg flag="-t" constant="attitude : theta"/>
<arg flag="-u" constant="0.1"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_SIM_RATE_ATTITUDE:theta'"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_ATT_LOOP:est_theta:57.3'"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_ATT_LOOP:sp_theta:57.3'"/>
<arg flag="-c" constant="'*:telemetry:AHRS_MEASURE:theta:57.3'"/>
</program>
<program name="Real-time Plotter">
<arg flag="-t" constant="attitude : psi"/>
<arg flag="-u" constant="0.1"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_SIM_RATE_ATTITUDE:psi'"/>
<!-- <arg flag="-c" constant="'*:telemetry:BOOZ_ATT_LOOP:est_psi:57.3'"/> -->
<!-- <arg flag="-c" constant="'*:telemetry:BOOZ_ATT_LOOP:sp_psi:57.3'"/> -->
<arg flag="-c" constant="'*:telemetry:AHRS_MEASURE:psi:57.3'"/>
</program>
<program name="Real-time Plotter">
<arg flag="-t" constant="speed : u v w"/>
<arg flag="-u" constant="0.1"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_SIM_SPEED_POS:u'"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_SIM_SPEED_POS:v'"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_SIM_SPEED_POS:w'"/>
</program>
<program name="Real-time Plotter">
<arg flag="-t" constant="position : x"/>
<arg flag="-u" constant="0.1"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_SIM_SPEED_POS:x'"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_HOV_LOOP:est_x'"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_HOV_LOOP:sp_x'"/>
</program>
<program name="Real-time Plotter">
<arg flag="-t" constant="position : y"/>
<arg flag="-u" constant="0.1"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_SIM_SPEED_POS:y'"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_HOV_LOOP:est_y:'"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_HOV_LOOP:sp_y:'"/>
</program>
<program name="Real-time Plotter">
<arg flag="-t" constant="position : z"/>
<arg flag="-u" constant="0.1"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_SIM_SPEED_POS:z'"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_VERT_LOOP:est_z'"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_VERT_LOOP:sp_z'"/>
</program>
<program name="Real-time Plotter">
<arg flag="-t" constant="ahrs : bp bq br"/>
<arg flag="-u" constant="0.1"/>
<arg flag="-c" constant="'*:telemetry:AHRS_EULER_STATE:bp:57.3'"/>
<arg flag="-c" constant="'*:telemetry:AHRS_EULER_STATE:bq:57.3'"/>
<arg flag="-c" constant="'*:telemetry:AHRS_EULER_STATE:br:57.3'"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_SIM_GYRO_BIAS:bp'"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_SIM_GYRO_BIAS:bq'"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_SIM_GYRO_BIAS:br'"/>
</program>
<program name="Real-time Plotter">
<arg flag="-t" constant="ahrs : covariances"/>
<arg flag="-u" constant="0.1"/>
<arg flag="-c" constant="'*:telemetry:AHRS_EULER_COV:p_phi_phi'"/>
<arg flag="-c" constant="'*:telemetry:AHRS_EULER_COV:p_phi_bp'"/>
<arg flag="-c" constant="'*:telemetry:AHRS_EULER_COV:p_bp_bp'"/>
<arg flag="-c" constant="'*:telemetry:AHRS_EULER_COV:p_theta_theta'"/>
<arg flag="-c" constant="'*:telemetry:AHRS_EULER_COV:p_theta_bq'"/>
<arg flag="-c" constant="'*:telemetry:AHRS_EULER_COV:p_bq_bq'"/>
<arg flag="-c" constant="'*:telemetry:AHRS_EULER_COV:p_psi_psi'"/>
<arg flag="-c" constant="'*:telemetry:AHRS_EULER_COV:p_psi_br'"/>
<arg flag="-c" constant="'*:telemetry:AHRS_EULER_COV:p_br_br'"/>
</program>
</session>
</section>
</control_panel>