Merge branch 'master' into quat_transformations

to get updates/fixes from master for testing
paparazzi · Sep 27, 2013 · 110c20e · 110c20e
2 parents 9077861 + d3ac39c
commit 110c20e
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Showing 73 changed files with 1,453 additions and 501 deletions.
diff --git a/.gitignore b/.gitignore
@@ -40,6 +40,7 @@
 # /conf/
 /conf/conf.xml
 /conf/conf.xml.20*
+/conf/conf_personal.xml.20*
 /conf/control_panel.xml
 /conf/%gconf.xml
 /conf/maps_data/*

diff --git a/Makefile b/Makefile
@@ -113,7 +113,7 @@ update_google_version:
 
 conf: conf/conf.xml conf/control_panel.xml conf/maps.xml
 
-conf/%.xml :conf/%.xml.example
+conf/%.xml :conf/%_example.xml
 	[ -L $@ ] || [ -f $@ ] || cp $< $@
 
 
@@ -294,7 +294,7 @@ ab_clean:
 
 replace_current_conf_xml:
 	test conf/conf.xml && mv conf/conf.xml conf/conf.xml.backup.$(BUILD_DATETIME)
-	cp conf/tests_conf.xml conf/conf.xml
+	cp conf/conf_tests.xml conf/conf.xml
 
 restore_conf_xml:
 	test conf/conf.xml.backup.$(BUILD_DATETIME) && mv conf/conf.xml.backup.$(BUILD_DATETIME) conf/conf.xml

diff --git a/conf/Makefile.omap b/conf/Makefile.omap
@@ -81,6 +81,38 @@ load upload program: $(OBJDIR)/$(TARGET).elf
 	# Kill the application
 	-echo "killall -9 $(TARGET).elf" | telnet $(HOST)
 
+	# Make the target dir and edit the config
+	-{ 												\
+	  echo "mkdir -p $(TARGET_DIR)";				\
+	} | telnet $(HOST)
+
+	# Upload the drivers and new application
+	{																								\
+	  echo "binary";																				\
+	  echo "put $(PAPARAZZI_SRC)/sw/ext/ardrone2_drivers/cdc-acm.ko /$(SUB_DIR)/cdc-acm.ko";		\
+	  echo "put $(OBJDIR)/$(TARGET).elf /$(SUB_DIR)/$(TARGET).elf";									\
+	  echo "quit";																					\
+	} | ftp -n $(HOST)
+
+	# Upload the modules and start the application
+	-{ 															\
+	  echo "insmod $(TARGET_DIR)/cdc-acm.ko";					\
+	  echo "chmod 777 $(TARGET_DIR)/$(TARGET).elf";				\
+	  echo "$(TARGET_DIR)/$(TARGET).elf > /dev/null 2>&1 &";	\
+	} | telnet $(HOST)
+
+ifeq ($(ARDRONE2_REBOOT),1)
+	-{ 										\
+	  echo "reboot";						\
+	} | telnet $(HOST)
+endif
+
+# Program the device and start it.
+load2 upload2 program2: $(OBJDIR)/$(TARGET).elf
+
+	# Kill the application
+	-echo "killall -9 $(TARGET).elf" | telnet $(HOST)
+
 	# Make the target dir and edit the config
 	-{ 												\
 	  echo "mkdir -p $(TARGET_DIR)";				\
@@ -111,14 +143,16 @@ load upload program: $(OBJDIR)/$(TARGET).elf
 	  echo "chmod 777 $(TARGET_DIR)/$(TARGET).elf";				\
 	  echo "$(TARGET_DIR)/$(TARGET).elf > /dev/null 2>&1 &";	\
 	} | telnet $(HOST)
-	
+
 ifeq ($(ARDRONE2_REBOOT),1)
 	-{ 										\
 	  echo "reboot";						\
 	} | telnet $(HOST)
 endif
 
 
+
+
 # Link: create ELF output file from object files.
 .SECONDARY : $(OBJDIR)/$(TARGET).elf
 .PRECIOUS :   $(OBJ_C_OMAP) $(OBJ_CPP_OMAP)
@@ -140,6 +174,7 @@ $(OBJDIR)/%.o : %.cpp $(OBJDIR)/../Makefile.ac
 	$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
 	$(Q)$(CXX) -c $(CXXFLAGS) $< -o $@
 
+
 # Listing of phony targets.
 .PHONY : all build elf clean clean_list
 

diff --git a/conf/airframes/TUDelft/IMAV2013/ARDrone/182_calib.xml b/conf/airframes/TUDelft/IMAV2013/ARDrone/182_calib.xml
@@ -9,7 +9,7 @@
     <define name="MAG_X_SENS" value="14.8494072406" integer="16"/>
     <define name="MAG_Y_SENS" value="14.4187929352" integer="16"/>
     <define name="MAG_Z_SENS" value="15.4390790318" integer="16"/>
-    
+
     <!-- Magneto current calibration -->
     <define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
     <define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>

diff --git a/conf/airframes/TUDelft/IMAV2013/ARDrone/184_calib.xml b/conf/airframes/TUDelft/IMAV2013/ARDrone/184_calib.xml
@@ -2,14 +2,16 @@
 
 <airframe>
   <section name="IMU" prefix="IMU_">
-    <!-- Magneto calibration -->
-    <define name="MAG_X_NEUTRAL" value="57"/>
-    <define name="MAG_Y_NEUTRAL" value="-13"/>
-    <define name="MAG_Z_NEUTRAL" value="-150"/>
-    <define name="MAG_X_SENS" value="18.4329549733" integer="16"/>
-    <define name="MAG_Y_SENS" value="16.877985337" integer="16"/>
-    <define name="MAG_Z_SENS" value="20.2550157453" integer="16"/>
-
+
+    <!-- Magneto calibration (done) -->
+    <define name="MAG_X_NEUTRAL" value="8"/>
+    <define name="MAG_Y_NEUTRAL" value="22"/>
+    <define name="MAG_Z_NEUTRAL" value="-182"/>
+    <define name="MAG_X_SENS" value="15.6093106965" integer="16"/>
+    <define name="MAG_Y_SENS" value="13.7479252753" integer="16"/>
+    <define name="MAG_Z_SENS" value="16.7383397999" integer="16"/>
+
+
     <!-- Magneto current calibration -->
     <define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
     <define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>

diff --git a/conf/airframes/TUDelft/IMAV2013/ARDrone/186_calib.xml b/conf/airframes/TUDelft/IMAV2013/ARDrone/186_calib.xml
@@ -2,14 +2,19 @@
 
 <airframe>
   <section name="IMU" prefix="IMU_">
-    <!-- Magneto calibration -->
-    <define name="MAG_X_NEUTRAL" value="16"/>
-    <define name="MAG_Y_NEUTRAL" value="-11"/>
-    <define name="MAG_Z_NEUTRAL" value="-131"/>
-    <define name="MAG_X_SENS" value="17.206234987" integer="16"/>
-    <define name="MAG_Y_SENS" value="16.4124010821" integer="16"/>
-    <define name="MAG_Z_SENS" value="13.6629556861" integer="16"/>
-
+    <!-- Accelero (done) -->
+    <define name="ACCEL_X_NEUTRAL" value="2048"/>
+    <define name="ACCEL_Y_NEUTRAL" value="2076"/>
+    <define name="ACCEL_Z_NEUTRAL" value="2048"/>
+
+    <!-- Magneto calibration (done) -->
+    <define name="MAG_X_NEUTRAL" value="8"/>
+	<define name="MAG_Y_NEUTRAL" value="-7"/>
+	<define name="MAG_Z_NEUTRAL" value="-227"/>
+	<define name="MAG_X_SENS" value="15.5234215153" integer="16"/>
+	<define name="MAG_Y_SENS" value="14.2647577704" integer="16"/>
+	<define name="MAG_Z_SENS" value="14.9418031715" integer="16"/>
+
     <!-- Magneto current calibration -->
     <define name= "MAG_X_CURRENT_COEF" value="0.00202964254187"/>
     <define name= "MAG_Y_CURRENT_COEF" value="-0.000446794092786"/>

diff --git a/conf/airframes/TUDelft/IMAV2013/ARDrone/188_calib.xml b/conf/airframes/TUDelft/IMAV2013/ARDrone/188_calib.xml
@@ -2,14 +2,19 @@
 
 <airframe>
   <section name="IMU" prefix="IMU_">
-    <!-- Magneto calibration -->
-    <define name="MAG_X_NEUTRAL" value="33"/>
-    <define name="MAG_Y_NEUTRAL" value="44"/>
-    <define name="MAG_Z_NEUTRAL" value="-264"/>
-    <define name="MAG_X_SENS" value="19.1984157982" integer="16"/>
-    <define name="MAG_Y_SENS" value="18.7031225235" integer="16"/>
-    <define name="MAG_Z_SENS" value="19.0380688485" integer="16"/>
-
+    <!-- Accelero (done) -->
+    <define name="ACCEL_X_NEUTRAL" value="2068"/>
+    <define name="ACCEL_Y_NEUTRAL" value="2068"/>
+    <define name="ACCEL_Z_NEUTRAL" value="2048"/>
+
+    <!-- Magneto calibration (done) -->
+    <define name="MAG_X_NEUTRAL" value="71"/>
+	<define name="MAG_Y_NEUTRAL" value="-1"/>
+	<define name="MAG_Z_NEUTRAL" value="-166"/>
+	<define name="MAG_X_SENS" value="13.9587052153" integer="16"/>
+	<define name="MAG_Y_SENS" value="17.2130452079" integer="16"/>
+	<define name="MAG_Z_SENS" value="16.2785989428" integer="16"/>
+
     <!-- Magneto current calibration -->
     <define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
     <define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>

diff --git a/conf/airframes/TUDelft/IMAV2013/ARDrone/189_calib.xml b/conf/airframes/TUDelft/IMAV2013/ARDrone/189_calib.xml
@@ -2,14 +2,19 @@
 
 <airframe>
   <section name="IMU" prefix="IMU_">
-    <!-- Magneto calibration -->
-    <define name="MAG_X_NEUTRAL" value="33"/>
-    <define name="MAG_Y_NEUTRAL" value="44"/>
-    <define name="MAG_Z_NEUTRAL" value="-264"/>
-    <define name="MAG_X_SENS" value="19.1984157982" integer="16"/>
-    <define name="MAG_Y_SENS" value="18.7031225235" integer="16"/>
-    <define name="MAG_Z_SENS" value="19.0380688485" integer="16"/>
-
+    <!-- Accelero (done) -->
+    <define name="ACCEL_X_NEUTRAL" value="2048"/>
+    <define name="ACCEL_Y_NEUTRAL" value="2056"/>
+    <define name="ACCEL_Z_NEUTRAL" value="2048"/>
+
+    <!-- Magneto calibration (done) -->
+    <define name="MAG_X_NEUTRAL" value="-59"/>
+    <define name="MAG_Y_NEUTRAL" value="-11"/>
+    <define name="MAG_Z_NEUTRAL" value="-246"/>
+    <define name="MAG_X_SENS" value="15.6071828304" integer="16"/>
+    <define name="MAG_Y_SENS" value="14.9363172663" integer="16"/>
+    <define name="MAG_Z_SENS" value="15.9964364143" integer="16"/>
+
     <!-- Magneto current calibration -->
     <define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
     <define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>

diff --git a/conf/airframes/TUDelft/IMAV2013/ARDrone/190_calib.xml b/conf/airframes/TUDelft/IMAV2013/ARDrone/190_calib.xml
@@ -1,15 +1,15 @@
-<!-- ARDrone calibration file -->
+<!-- ARDrone calibration file (Finished calibration) -->
 
 <airframe>
   <section name="IMU" prefix="IMU_">
     <!-- Magneto calibration -->
-    <define name="MAG_X_NEUTRAL" value="33"/>
-    <define name="MAG_Y_NEUTRAL" value="44"/>
-    <define name="MAG_Z_NEUTRAL" value="-264"/>
-    <define name="MAG_X_SENS" value="19.1984157982" integer="16"/>
-    <define name="MAG_Y_SENS" value="18.7031225235" integer="16"/>
-    <define name="MAG_Z_SENS" value="19.0380688485" integer="16"/>
-    
+    <define name="MAG_X_NEUTRAL" value="18"/>
+	<define name="MAG_Y_NEUTRAL" value="7"/>
+	<define name="MAG_Z_NEUTRAL" value="-190"/>
+	<define name="MAG_X_SENS" value="17.5832018436" integer="16"/>
+	<define name="MAG_Y_SENS" value="16.9906378261" integer="16"/>
+	<define name="MAG_Z_SENS" value="18.4485786615" integer="16"/>
+
     <!-- Magneto current calibration -->
     <define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
     <define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>

diff --git a/conf/airframes/TUDelft/IMAV2013/ARDrone/191_calib.xml b/conf/airframes/TUDelft/IMAV2013/ARDrone/191_calib.xml
@@ -1,15 +1,15 @@
-<!-- ARDrone calibration file -->
+<!-- ARDrone calibration file (done) -->
 
 <airframe>
   <section name="IMU" prefix="IMU_">
     <!-- Magneto calibration -->
-    <define name="MAG_X_NEUTRAL" value="33"/>
-    <define name="MAG_Y_NEUTRAL" value="44"/>
-    <define name="MAG_Z_NEUTRAL" value="-264"/>
-    <define name="MAG_X_SENS" value="19.1984157982" integer="16"/>
-    <define name="MAG_Y_SENS" value="18.7031225235" integer="16"/>
-    <define name="MAG_Z_SENS" value="19.0380688485" integer="16"/>
-    
+    <define name="MAG_X_NEUTRAL" value="0"/>
+	<define name="MAG_Y_NEUTRAL" value="0"/>
+	<define name="MAG_Z_NEUTRAL" value="-190"/>
+	<define name="MAG_X_SENS" value="16.0204597092" integer="16"/>
+	<define name="MAG_Y_SENS" value="15.5973173468" integer="16"/>
+	<define name="MAG_Z_SENS" value="17.1460428729" integer="16"/>
+
     <!-- Magneto current calibration -->
     <define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
     <define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>

diff --git a/conf/airframes/TUDelft/IMAV2013/ARDrone/192_calib.xml b/conf/airframes/TUDelft/IMAV2013/ARDrone/192_calib.xml
@@ -9,7 +9,7 @@
     <define name="MAG_X_SENS" value="19.1984157982" integer="16"/>
     <define name="MAG_Y_SENS" value="18.7031225235" integer="16"/>
     <define name="MAG_Z_SENS" value="19.0380688485" integer="16"/>
-    
+
     <!-- Magneto current calibration -->
     <define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
     <define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>

diff --git a/conf/airframes/TUDelft/IMAV2013/ARDrone/193_calib.xml b/conf/airframes/TUDelft/IMAV2013/ARDrone/193_calib.xml
@@ -2,14 +2,19 @@
 
 <airframe>
   <section name="IMU" prefix="IMU_">
+    <!-- Accelero (done) -->
+    <define name="ACCEL_X_NEUTRAL" value="2056"/>
+    <define name="ACCEL_Y_NEUTRAL" value="2052"/>
+    <define name="ACCEL_Z_NEUTRAL" value="2048"/>
+
     <!-- Magneto calibration -->
     <define name="MAG_X_NEUTRAL" value="33"/>
     <define name="MAG_Y_NEUTRAL" value="44"/>
     <define name="MAG_Z_NEUTRAL" value="-264"/>
     <define name="MAG_X_SENS" value="19.1984157982" integer="16"/>
     <define name="MAG_Y_SENS" value="18.7031225235" integer="16"/>
     <define name="MAG_Z_SENS" value="19.0380688485" integer="16"/>
-    
+
     <!-- Magneto current calibration -->
     <define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
     <define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>

diff --git a/conf/airframes/TUDelft/IMAV2013/ARDrone/194_calib.xml b/conf/airframes/TUDelft/IMAV2013/ARDrone/194_calib.xml
@@ -2,14 +2,19 @@
 
 <airframe>
   <section name="IMU" prefix="IMU_">
-    <!-- Magneto calibration -->
-    <define name="MAG_X_NEUTRAL" value="33"/>
-    <define name="MAG_Y_NEUTRAL" value="44"/>
-    <define name="MAG_Z_NEUTRAL" value="-264"/>
-    <define name="MAG_X_SENS" value="19.1984157982" integer="16"/>
-    <define name="MAG_Y_SENS" value="18.7031225235" integer="16"/>
-    <define name="MAG_Z_SENS" value="19.0380688485" integer="16"/>
-
+    <!-- Accelero (done) -->
+    <define name="ACCEL_X_NEUTRAL" value="2052"/>
+    <define name="ACCEL_Y_NEUTRAL" value="2052"/>
+    <define name="ACCEL_Z_NEUTRAL" value="2048"/>
+
+    <!-- Magneto calibration (done) -->
+<define name="MAG_X_NEUTRAL" value="17"/>
+<define name="MAG_Y_NEUTRAL" value="-31"/>
+<define name="MAG_Z_NEUTRAL" value="-195"/>
+<define name="MAG_X_SENS" value="15.2127658227" integer="16"/>
+<define name="MAG_Y_SENS" value="16.1444639915" integer="16"/>
+<define name="MAG_Z_SENS" value="16.5058009114" integer="16"/>
+
     <!-- Magneto current calibration -->
     <define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
     <define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>

diff --git a/conf/airframes/TUDelft/IMAV2013/ARDrone/195_calib.xml b/conf/airframes/TUDelft/IMAV2013/ARDrone/195_calib.xml
@@ -1,15 +1,21 @@
-<!-- ARDrone calibration file -->
+	<!-- ARDrone calibration file -->
 
 <airframe>
   <section name="IMU" prefix="IMU_">
+    <!-- Accelero (done) -->
+    <define name="ACCEL_X_NEUTRAL" value="2040"/>
+    <define name="ACCEL_Y_NEUTRAL" value="2044"/>
+    <define name="ACCEL_Z_NEUTRAL" value="2048"/>
+
     <!-- Magneto calibration -->
-    <define name="MAG_X_NEUTRAL" value="33"/>
-    <define name="MAG_Y_NEUTRAL" value="44"/>
-    <define name="MAG_Z_NEUTRAL" value="-264"/>
-    <define name="MAG_X_SENS" value="19.1984157982" integer="16"/>
-    <define name="MAG_Y_SENS" value="18.7031225235" integer="16"/>
-    <define name="MAG_Z_SENS" value="19.0380688485" integer="16"/>
-
+    <define name="MAG_X_NEUTRAL" value="-14"/>
+    <define name="MAG_Y_NEUTRAL" value="-15"/>
+    <define name="MAG_Z_NEUTRAL" value="-202"/>
+    <define name="MAG_X_SENS" value="15.71361627" integer="16"/>
+    <define name="MAG_Y_SENS" value="15.7480197906" integer="16"/>
+    <define name="MAG_Z_SENS" value="16.1966392929" integer="16"/>
+
+
     <!-- Magneto current calibration -->
     <define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
     <define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>

diff --git a/conf/airframes/TUDelft/IMAV2013/ARDrone/196_calib.xml b/conf/airframes/TUDelft/IMAV2013/ARDrone/196_calib.xml
@@ -2,14 +2,19 @@
 
 <airframe>
   <section name="IMU" prefix="IMU_">
-    <!-- Magneto calibration -->
-    <define name="MAG_X_NEUTRAL" value="33"/>
-    <define name="MAG_Y_NEUTRAL" value="44"/>
-    <define name="MAG_Z_NEUTRAL" value="-264"/>
-    <define name="MAG_X_SENS" value="19.1984157982" integer="16"/>
-    <define name="MAG_Y_SENS" value="18.7031225235" integer="16"/>
-    <define name="MAG_Z_SENS" value="19.0380688485" integer="16"/>
-
+    <!-- Accelero (done) -->
+    <define name="ACCEL_X_NEUTRAL" value="2048"/>
+    <define name="ACCEL_Y_NEUTRAL" value="2052"/>
+    <define name="ACCEL_Z_NEUTRAL" value="2048"/>
+
+    <!-- Magneto calibration (done) -->
+    <define name="MAG_X_NEUTRAL" value="5"/>
+	<define name="MAG_Y_NEUTRAL" value="-13"/>
+	<define name="MAG_Z_NEUTRAL" value="-161"/>
+	<define name="MAG_X_SENS" value="15.4856734848" integer="16"/>
+	<define name="MAG_Y_SENS" value="15.6311803268" integer="16"/>
+	<define name="MAG_Z_SENS" value="17.1897525095" integer="16"/>
+
     <!-- Magneto current calibration -->
     <define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
     <define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>