Merge pull request #2721 from paparazzi/autopilot_reorg

Autopilot reorg
paparazzi · Aug 27, 2021 · 23d9957 · 23d9957
2 parents dcc1416 + 7b8b87c
commit 23d9957
Show file tree

Hide file tree

Showing 414 changed files with 3,538 additions and 2,624 deletions.
diff --git a/conf/airframes/ENAC/fixed-wing/apogee.xml b/conf/airframes/ENAC/fixed-wing/apogee.xml
@@ -17,12 +17,6 @@
       <module name="radio_control" type="ppm"/>
     </target>
 
-    <define name="USE_I2C1"/>
-    <!--define name="USE_I2C2"/-->
-    <!--define name="AGR_CLIMB"/-->
-    <!--define name="LOITER_TRIM"/-->
-    <!--define name="PITCH_TRIM"/-->
-
     <!-- Communication -->
     <module name="telemetry" type="xbee_api"/>
     <module name="tlsf"/>

diff --git a/conf/airframes/ENAC/fixed-wing/tawaki.xml b/conf/airframes/ENAC/fixed-wing/tawaki.xml
@@ -41,6 +41,7 @@
     <module name="board" type="tawaki">
       <configure name="BOARD_TAWAKI_ROTATED" value="TRUE"/>
     </module>
+    <module name="actuators" type="pwm"/>
 
     <module name="gps" type="ublox">
       <configure name="GPS_BAUD" value="B115200"/>
@@ -55,9 +56,6 @@
     </module>
 
     <!--configure name="SDLOG_USE_RTC" value="FALSE"/-->
-    <!--module name="tlsf"/>
-    <module name="pprzlog"/>
-    <module name="logger" type="sd_chibios"/-->
     <module name="flight_recorder"/>
   </firmware>
 

diff --git a/conf/airframes/ENAC/quadrotor/crazyflie_2.1.xml b/conf/airframes/ENAC/quadrotor/crazyflie_2.1.xml
@@ -9,7 +9,7 @@
     <configure name="RTOS_DEBUG" value="0"/>
 
     <target name="ap" board="crazyflie_2.1">
-      <!--module name="gps" type="datalink"/-->
+      <module name="gps" type="datalink"/>
       <module name="cf_deck" type="multi_ranger"/>
       <module name="range_forcefield">
         <define name="RANGE_FORCEFIELD_MAX_VEL" value="0.1"/>

diff --git a/conf/airframes/ESDEN/esden_cocto_lm2a2.xml b/conf/airframes/ESDEN/esden_cocto_lm2a2.xml
@@ -186,14 +186,6 @@ B2L -> CW
    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
- <modules main_freq="512">
-   <module name="gps" type="ubx_ucenter"/>
-
-   <module name="led_safety_status">
-     <define name="SAFETY_WARNING_LED" value="5"/>
-   </module>
-</modules>
-
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_m_2.0">
       <module name="radio_control" type="spektrum">
@@ -217,12 +209,16 @@ B2L -> CW
     <module name="telemetry"     type="transparent"/>
     <module name="imu"           type="aspirin_v2.1"/>
     <module name="gps"           type="ublox"/>
+    <module name="gps" type="ubx_ucenter"/>
     <module name="stabilization" type="int_quat"/>
     <module name="ahrs"          type="int_cmpl_quat"/>
     <module name="ins"/>
     <!--define name="USE_INS_NAV_INIT"/-->
     <!--module name="stabilization"   type="int_euler"/>
     <module name="ahrs"          type="int_cmpl_euler"/-->
+    <module name="led_safety_status">
+      <define name="SAFETY_WARNING_LED" value="5"/>
+    </module>
   </firmware>
 
 </airframe>
diff --git a/conf/airframes/ESDEN/esden_gain_scheduling_example.xml b/conf/airframes/ESDEN/esden_gain_scheduling_example.xml
@@ -173,16 +173,6 @@
    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
-<!--//////////////INCLUDE THE GAIN SCHEDULING MODULE\\\\\\\\\\\\\\\\-->
- <modules main_freq="512">
-   <module name="gps" type="ubx_ucenter"/>
-   <module name="led_safety_status">
-   	 <define name="USE_LED_BODY" value="1"/>
-         <define name="SAFETY_WARNING_LED" value="BODY"/>
-   </module>
-  <!-- FIXME <module name="gain_scheduling"/>-->
-</modules>
-
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_m_2.0">
       <module name="radio_control" type="ppm">
@@ -206,7 +196,9 @@
     <module name="imu"           type="aspirin_v2.1"/>
     <!--module name="imu"	    type="aspirin_v1.0"/-->
     <module name="gps"           type="ublox"/>
+    <module name="gps" type="ubx_ucenter"/>
     <module name="stabilization" type="int_quat"/>
+    <!-- FIXME <module name="gain_scheduling"/>-->
     <module name="ahrs"          type="int_cmpl_quat">
       <configure name="USE_MAGNETOMETER" value="0"/>
       <define name="AHRS_USE_GPS_HEADING" value="1"/>
@@ -215,5 +207,9 @@
     <!--define name="USE_INS_NAV_INIT"/-->
     <!--module name="stabilization"   type="int_euler"/>
     <module name="ahrs"          type="int_cmpl_euler"/-->
+    <module name="led_safety_status">
+      <define name="USE_LED_BODY" value="1"/>
+      <define name="SAFETY_WARNING_LED" value="BODY"/>
+    </module>
   </firmware>
 </airframe>
diff --git a/conf/airframes/ESDEN/esden_hexy_ll11a2pwm.xml b/conf/airframes/ESDEN/esden_hexy_ll11a2pwm.xml
@@ -183,13 +183,6 @@
    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
- <modules main_freq="512">
-   <module name="gps" type="ubx_ucenter"/>
-   <module name="led_safety_status">
-     <define name="SAFETY_WARNING_LED" value="5"/>
-   </module>
- </modules>
-
  <firmware name="rotorcraft">
    <target name="ap" board="lisa_l_1.1">
      <module name="radio_control" type="spektrum">
@@ -213,12 +206,16 @@
     <module name="telemetry"     type="transparent"/>
     <module name="imu"           type="aspirin_v2.1"/>
     <module name="gps"           type="ublox"/>
+    <module name="gps" type="ubx_ucenter"/>
     <module name="stabilization" type="int_quat"/>
     <module name="ahrs"          type="int_cmpl_quat"/>
     <module name="ins"/>
     <!--define name="USE_INS_NAV_INIT"/-->
     <!--module name="stabilization"   type="int_euler"/>
     <module name="ahrs"          type="int_cmpl_euler"/-->
+    <module name="led_safety_status">
+      <define name="SAFETY_WARNING_LED" value="5"/>
+    </module>
   </firmware>
 
 </airframe>
diff --git a/conf/airframes/ESDEN/esden_hexy_lm2a2pwm.xml b/conf/airframes/ESDEN/esden_hexy_lm2a2pwm.xml
@@ -144,10 +144,6 @@
    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
- <modules main_freq="512">
-   <module name="gps" type="ubx_ucenter"/>
- </modules>
-
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_m_2.0">
       <module name="radio_control" type="spektrum">
@@ -172,6 +168,7 @@
     <module name="imu"           type="aspirin_v2.1"/>
     <define name="LISA_M_LONGITUDINAL_X"/>
     <module name="gps"           type="ublox"/>
+    <module name="gps" type="ubx_ucenter"/>
     <module name="stabilization" type="int_quat"/>
     <module name="ahrs"          type="int_cmpl_quat"/>
     <module name="ins"/>

diff --git a/conf/airframes/ESDEN/esden_lisa2_hex.xml b/conf/airframes/ESDEN/esden_lisa2_hex.xml
@@ -158,14 +158,6 @@
    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
- <modules main_freq="512">
-   <module name="gps" type="ubx_ucenter"/>
-   <module name="led_safety_status">
-     <define name="USE_LED_BODY" value="1"/>
-     <define name="SAFETY_WARNING_LED" value="5"/>
-   </module>
- </modules>
-
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_m_2.0">
       <module name="radio_control" type="ppm">
@@ -188,6 +180,7 @@
     <module name="imu"           type="aspirin_v2.1"/>
     <define name="LISA_M_LONGITUDINAL_X"/>
     <module name="gps"           type="ublox"/>
+    <module name="gps" type="ubx_ucenter"/>
     <module name="stabilization" type="int_quat"/>
     <module name="ahrs"          type="int_cmpl_quat">
       <configure name="USE_MAGNETOMETER" value="0"/>
@@ -196,6 +189,10 @@
     <!--define name="USE_INS_NAV_INIT"/-->
     <!--module name="stabilization"   type="int_euler"/>
     <module name="ahrs"          type="int_cmpl_euler"/-->
+    <module name="led_safety_status">
+      <define name="USE_LED_BODY" value="1"/>
+      <define name="SAFETY_WARNING_LED" value="5"/>
+    </module>
   </firmware>
 
 </airframe>
diff --git a/conf/airframes/ESDEN/esden_qs_asp22.xml b/conf/airframes/ESDEN/esden_qs_asp22.xml
@@ -183,15 +183,6 @@
    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
- <modules main_freq="512">
-   <module name="gps" type="ubx_ucenter"/>
-   <module name="led_safety_status">
-         <define name="USE_LED_BODY" value="1"/>
-         <define name="SAFETY_WARNING_LED" value="BODY"/>
-   </module>
-   <!--module name="gain_scheduling"/-->
-</modules>
-
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_m_2.0">
       <module name="radio_control" type="ppm">
@@ -215,7 +206,9 @@
     <module name="imu"           type="aspirin_v2.2"/>
 <!--   <module name="imu"        type="aspirin_v1.5"/> -->
     <module name="gps"           type="ublox"/>
+    <module name="gps" type="ubx_ucenter"/>
     <module name="stabilization" type="int_quat"/>
+    <!--module name="gain_scheduling"/-->
     <module name="ahrs"          type="int_cmpl_quat">
       <configure name="USE_MAGNETOMETER" value="0"/>
       <define name="AHRS_USE_GPS_HEADING" value="0"/>
@@ -224,5 +217,9 @@
     <!--define name="USE_INS_NAV_INIT"/-->
     <!--module name="stabilization"   type="int_euler"/>
     <module name="ahrs"          type="int_cmpl_euler"/-->
+    <module name="led_safety_status">
+      <define name="USE_LED_BODY" value="1"/>
+      <define name="SAFETY_WARNING_LED" value="BODY"/>
+    </module>
   </firmware>
 </airframe>
diff --git a/conf/airframes/ESDEN/esden_quady_ll11a2pwm.xml b/conf/airframes/ESDEN/esden_quady_ll11a2pwm.xml
@@ -179,10 +179,6 @@
    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
- <modules main_freq="512">
-   <module name="gps" type="ubx_ucenter"/>
- </modules>
-
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_l_1.1">
       <module name="radio_control" type="spektrum">
@@ -206,6 +202,7 @@
     <module name="telemetry"     type="transparent"/>
     <module name="imu"           type="aspirin_v2.1"/>
     <module name="gps"           type="ublox"/>
+    <module name="gps" type="ubx_ucenter"/>
     <module name="stabilization" type="int_quat"/>
     <module name="ahrs"          type="int_cmpl_quat"/>
     <module name="ins"/>

diff --git a/conf/airframes/ESDEN/esden_quady_lm1a1pwm.xml b/conf/airframes/ESDEN/esden_quady_lm1a1pwm.xml
@@ -140,38 +140,35 @@
    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
- <modules main_freq="512">
+ <firmware name="rotorcraft">
+   <target name="ap" board="lisa_m_1.0">
+     <module name="radio_control" type="spektrum">
+       <define name="RADIO_MODE" value="RADIO_FLAP"/>
+       <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
+       <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
+     </module>
+   </target>
+
+   <target name="nps" board="pc">
+     <module name="fdm"           type="jsbsim"/>
+     <module name="radio_control" type="ppm"/>
+   </target>
+
+   <module name="motor_mixing"/>
+   <module name="actuators"     type="pwm">
+     <define name="SERVO_HZ" value="400"/>
+     <define name="USE_SERVOS_7AND8"/>
+   </module>
+
+   <module name="telemetry"     type="transparent"/>
+   <module name="imu"           type="aspirin_v1.0"/>
+   <module name="gps"           type="ublox"/>
    <module name="gps" type="ubx_ucenter"/>
-</modules>
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="lisa_m_1.0">
-      <module name="radio_control" type="spektrum">
-        <define name="RADIO_MODE" value="RADIO_FLAP"/>
-        <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
-        <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
-      </module>
-    </target>
-
-    <target name="nps" board="pc">
-      <module name="fdm"           type="jsbsim"/>
-      <module name="radio_control" type="ppm"/>
-    </target>
-
-    <module name="motor_mixing"/>
-    <module name="actuators"     type="pwm">
-      <define name="SERVO_HZ" value="400"/>
-      <define name="USE_SERVOS_7AND8"/>
-    </module>
-
-    <module name="telemetry"     type="transparent"/>
-    <module name="imu"           type="aspirin_v1.0"/>
-    <module name="gps"           type="ublox"/>
-    <module name="stabilization" type="int_quat"/>
-    <module name="ahrs"          type="int_cmpl_quat"/>
-    <module name="ins"/>
-    <!--define name="USE_INS_NAV_INIT"/-->
-    <!--module name="stabilization"   type="int_euler"/>
+   <module name="stabilization" type="int_quat"/>
+   <module name="ahrs"          type="int_cmpl_quat"/>
+   <module name="ins"/>
+   <!--define name="USE_INS_NAV_INIT"/-->
+   <!--module name="stabilization"   type="int_euler"/>
     <module name="ahrs"          type="int_cmpl_euler"/-->
   </firmware>
 

diff --git a/conf/airframes/ESDEN/esden_quady_lm2a2pwm.xml b/conf/airframes/ESDEN/esden_quady_lm2a2pwm.xml
@@ -143,14 +143,6 @@
    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
- <modules main_freq="512">
-   <module name="gps" type="ubx_ucenter"/>
-
-   <module name="led_safety_status">
-     <define name="SAFETY_WARNING_LED" value="5"/>
-   </module>
-</modules>
-
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_m_2.0">
       <module name="radio_control" type="spektrum">
@@ -175,12 +167,16 @@
     <module name="telemetry"     type="transparent"/>
     <module name="imu"           type="aspirin_v2.1"/>
     <module name="gps"           type="ublox"/>
+    <module name="gps" type="ubx_ucenter"/>
     <module name="stabilization" type="int_quat"/>
     <module name="ahrs"          type="int_cmpl_quat"/>
     <module name="ins"/>
     <!--define name="USE_INS_NAV_INIT"/-->
     <!--module name="stabilization"   type="int_euler"/>
     <module name="ahrs"          type="int_cmpl_euler"/-->
+    <module name="led_safety_status">
+      <define name="SAFETY_WARNING_LED" value="5"/>
+    </module>
   </firmware>
 
 </airframe>
diff --git a/conf/airframes/ESDEN/esden_quady_lm2a2pwmppm.xml b/conf/airframes/ESDEN/esden_quady_lm2a2pwmppm.xml
@@ -140,14 +140,6 @@
    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
- <modules main_freq="512">
-   <module name="gps" type="ubx_ucenter"/>
-
-   <module name="led_safety_status">
-     <define name="SAFETY_WARNING_LED" value="5"/>
-   </module>
-</modules>
-
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_m_2.0">
       <module name="radio_control" type="ppm">
@@ -169,12 +161,16 @@
     <module name="telemetry"     type="transparent"/>
     <module name="imu"           type="aspirin_v2.1"/>
     <module name="gps"           type="ublox"/>
+    <module name="gps" type="ubx_ucenter"/>
     <module name="stabilization" type="int_quat"/>
     <module name="ahrs"          type="int_cmpl_quat"/>
     <module name="ins"/>
     <!--define name="USE_INS_NAV_INIT"/-->
     <!--module name="stabilization"   type="int_euler"/>
     <module name="ahrs"          type="int_cmpl_euler"/-->
+    <module name="led_safety_status">
+      <define name="SAFETY_WARNING_LED" value="5"/>
+    </module>
   </firmware>
 
 </airframe>
diff --git a/conf/airframes/ESDEN/esden_quady_ls10pwm.xml b/conf/airframes/ESDEN/esden_quady_ls10pwm.xml
@@ -143,10 +143,6 @@
    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
- <modules main_freq="512">
-   <module name="gps" type="ubx_ucenter"/>
- </modules>
-
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_s_1.0">
       <module name="radio_control" type="superbitrf_rc">
@@ -172,6 +168,7 @@
     <module name="telemetry"     type="transparent"/>
     <module name="imu"           type="lisa_s_v1.0"/>
     <module name="gps"           type="ublox"/>
+    <module name="gps" type="ubx_ucenter"/>
     <module name="stabilization" type="int_quat"/>
     <module name="ahrs"          type="int_cmpl_quat"/>
     <module name="ins"/>