Skip to content

Commit

Permalink
[openuas] so many comments that the compiler failed.
Browse files Browse the repository at this point in the history
  • Loading branch information
@dewagter
dewagter committed Sep 24, 2023
1 parent 317ff17 commit 39bc65b
Showing 1 changed file with 49 additions and 26 deletions.
75 changes: 49 additions & 26 deletions conf/airframes/OPENUAS/openuas_multiplex_minimag.xml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -44,7 +44,8 @@ NOTES:
<!-- ********************** For in the real flying hardware ******************** -->

<target name="ap" board="px4fmu_4.0">
<!--<define name="GPS_UBX_MAX_PAYLOAD" value="2048"/>--><!-- Temp enlarge buffer for debugging velocity issue of uBlox M9 types FW v4.03-->
<!--<define name="GPS_UBX_MAX_PAYLOAD" value="2048"/>-->
<!-- Temp enlarge buffer for debugging velocity issue of uBlox M9 types FW v4.03-->

<!-- Towards better kind of aligner initial conditions -->

Expand Down Expand Up @@ -91,7 +92,8 @@ NOTES:
of nifty Galilleio setting we rather keep that so no autosetting now.-->
<!--<module name="gps" type="ubx_ucenter">-->
<!--<define name="GPS_UBX_NAV5_DYNAMICS" value="NAV5_DYN_PEDESTRIAN"/>-->
<!--<define name="GPS_UBX_UCENTER_RATE" value="51"/>--> <!-- In milliseconds. 0x0033 = 51ms = ~19Hz --><!-- make sure packets fit portrate-->
<!--<define name="GPS_UBX_UCENTER_RATE" value="51"/>--> <!-- In milliseconds. 0x0033 = 51ms = ~19Hz -->
<!-- make sure packets fit portrate-->
<!--</module>-->

<module name="airspeed_ets">
Expand Down Expand Up @@ -142,7 +144,8 @@ NOTES:
<define name="RADIO_CONTROL_NB_CHANNEL" value="16"/> <!-- Set the OpenRXSR receiver to maximum channel output of 8 9ms -->
<!--<configure name="SBUS_PORT" value="UART5"/>--> <!-- Default use UART2 on FMU4 -->
<!-- Mode set one a three way switch -->
<!-- Per default already GEAR if not defined <define name="RADIO_MODE" value="RADIO_GEAR"/> --><!-- yes, already done by default if not redefined to something else-->
<!-- Per default already GEAR if not defined <define name="RADIO_MODE" value="RADIO_GEAR"/> -->
<!-- yes, already done by default if not redefined to something else-->
<define name="RADIO_GEAR" value="RADIO_AUX2"/>
<define name="RADIO_FLAP" value="RADIO_AUX3"/>
</module>
Expand All @@ -159,9 +162,11 @@ NOTES:
<define name="BENCHMARK_TOLERANCE_POSITION" value="6" unit="m"/>
</module>-->

<!--<module name="sys_mon"/>--><!-- Enable if one want to check processor load for higher loop, nav, module etc. frequencies -->
<!--<module name="sys_mon"/>-->
<!-- Enable if one want to check processor load for higher loop, nav, module etc. frequencies -->

<!-- <module name="mag_calib_ukf"/>--><!-- New, and needs more testing, be careful with testflights if enabled -->
<!-- <module name="mag_calib_ukf"/>-->
<!-- New, and needs more testing, be careful with testflights if enabled -->

<module name="tune_airspeed"/>

Expand Down Expand Up @@ -195,7 +200,8 @@ NOTES:
<!-- For various parameter info here https://wiki.paparazziuav.org/wiki/Subsystem/ahrs -->
<!--<module name="ahrs" type="int_cmpl_quat">
</module>-->
<!--<module name="uart"/>--><!-- TODO: Exteral HITL PC debugging e.g a photocam trigger etc -->
<!--<module name="uart"/>-->
<!-- TODO: Exteral HITL PC debugging e.g a photocam trigger etc -->
</target>

<!-- ********* Another way for simulation of the flight *************-->
Expand Down Expand Up @@ -237,11 +243,10 @@ NOTES:
<!-- ********************* and another one ... ********************* -->
<!-- <target name="yasim" board="pc"> -->
<!-- Note NPS needs the ppm type radio_control module -->
<!--
<module name="radio_control" type="ppm">
<!-- <module name="radio_control" type="ppm">
<module name="fdm" type="yasim"/>
<module name="udp"/>-->
<!-- </target>-->
<module name="udp"/>
</target> -->

<!-- ********** Common Defines and Config and values for both Real Hardware and Simulation ***** -->

Expand Down Expand Up @@ -286,14 +291,16 @@ NOTES:
<define name="USE_AHRS_GPS_ACCELERATIONS" value="TRUE"/> <!-- forward acceleration compensation from GPS speed -->
<define name="USE_MAGNETOMETER_ONGROUND" value="TRUE"/> <!--DEFINE only used if float_dcm Use magnetic compensation before takeoff only while GPS course not good -->
<!-- If AHRS_MAG_CORRECT_FREQUENCY is set outside of target no need USE_MAGNETOMETER it is assumed TRUE -->
<!--<configure name="USE_MAGNETOMETER" value="TRUE"/>--><!-- should be as in USE the device-->
<!--<configure name="USE_MAGNETOMETER" value="TRUE"/>-->
<!-- should be as in USE the device-->

<!-- ************************* MODULES ************************* -->
<!-- Warning: unit conversion does not work in this section of airframe, so use the native units, or you'll have trouble...-->

<module name="gps" type="ublox">
<configure name="GPS_BAUD" value="B460800"/><!-- UBX message only but rate set to ~12HZ with GPS, GLONASS, BEIDU and GALILEIO at the SAME time is lots of GNSS data-->
<!-- <configure name="GPS_PORT" value="UARTx"/>--><!-- Uses the default GPS port on pixracer no need to set it -->
<!-- <configure name="GPS_PORT" value="UARTx"/>-->
<!-- Uses the default GPS port on pixracer no need to set it -->
</module>

<module name="tune_airspeed"/> <!-- Enable if one want to perform airspeed tuning -->
Expand All @@ -302,17 +309,21 @@ NOTES:
<!--<configure name="AHRS_USE_MAGNETOMETER" value="TRUE"/>--> <!-- as in USE it for values in the AHRS -->
<configure name="AHRS_ALIGNER_LED" value="2"/><!-- Which color you want sir? ;) -->
<define name="AHRS_MAG_UPDATE_ALL_AXES" value="TRUE"/> <!-- if TRUE with those high roll n pith angles magneto should be calibrated well or use UKF autocalib -->
<!--<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>--><!-- TRUE by default Use GPS course to update heading for time being,if FALSE data from magneto only -->
<!--<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>-->
<!-- TRUE by default Use GPS course to update heading for time being,if FALSE data from magneto only -->
<!--<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" value="TRUE"/>--> <!--Already TRUE by default Compensation of centrifugal force via GPS speed (to fly in circles with a fixedwing)"-->
<define name="AHRS_GPS_SPEED_IN_NEGATIVE_Z_DIRECTION" value="FALSE"/> <!-- AHRS_GRAVITY_UPDATE_COORDINATED_TURN assumes the GPS speed is in the X axis direction. Quadshot, DelftaCopter and other hybrids can have the GPS speed in the negative Z direction" -->
<!--<define name="AHRS_PROPAGATE_LOW_PASS_RATES" value="TRUE"/>--> <!-- apply a low pass filter on rotational velocity"-->
<!--<define name="AHRS_BIAS_UPDATE_HEADING_THRESHOLD" value="0.174533"/>--><!--unit="rad"/--><!-- don't update gyro bias if heading deviation is above this rotation threshold"-->
<!--<define name="AHRS_BIAS_UPDATE_HEADING_THRESHOLD" value="0.174533"/>-->
<!--unit="rad"/-->
<!-- don't update gyro bias if heading deviation is above this rotation threshold"-->
<define name="AHRS_HEADING_UPDATE_GPS_MIN_SPEED" value="3.0"/> <!--unit="m/s"--> <!-- CAREFULL, Don't update heading from GPS course if GPS ground speed is below is this threshold in m/s" -->
<!-- Some insights https://lists.nongnu.org/archive/html/paparazzi-devel/2013-10/msg00126.html -->
<define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="0.0"/> <!-- TODO: determine Default is 30.0 Reduce accelerometer cut-off frequency when the vehicle is accelerating: norm(ax,ay,az) 9,81 m/s2. WARNING: when the IMU is not well damped, the norm of accelerometers never equals to 9,81 m/s2. As a result, the GRAVITY_HEURISTIC_FACTOR will reduce the accelerometer bandwith even if the vehicle is not accelerating. -->
<!--<define name="AHRS_FC_IMU_ID" value="ABI_BROADCAST"/>--> <!-- ABI sender id of IMU to use Change is you change your AHRS type -->
<define name="AHRS_FC_MAG_ID" value="MAG_HMC58XX_SENDER_ID"/><!-- MAG_CALIB_UKF_ID for when using the mag_clib_ukf change your AHRS type-->
<!--<define name="AHRS_FC_MAG_ID" value="MAG_QMC5883_SENDER_ID" />--><!-- Use this insted of MAG_HMC5883_SENDER_ID for alternative sensor -->
<!--<define name="AHRS_FC_MAG_ID" value="MAG_QMC5883_SENDER_ID" />-->
<!-- Use this insted of MAG_HMC5883_SENDER_ID for alternative sensor -->
</module>

<module name="ins" type="alt_float"> <!--Does not work in SIM: extended thus use alt_float"/> -->
Expand All @@ -324,9 +335,11 @@ NOTES:
<module name="control" type="new"/><!-- energy or energyadaptive or type="new" to you gusto -->
<module name="navigation"/>

<!--<module name="imu_quality_assessment"/>--><!-- disable after initial filter tuning-->
<!--<module name="imu_quality_assessment"/>-->
<!-- disable after initial filter tuning-->

<module name="auto1_commands"/><!-- FIXME not working in JSBSim target with RC controller steering in Simulator--><!-- NOT finished for NON intermcu to be able to set GEAR and FLAP etc. in stabiized mode for easier testflights -->
<module name="auto1_commands"/><!-- FIXME not working in JSBSim target with RC controller steering in Simulator-->
<!-- NOT finished for NON intermcu to be able to set GEAR and FLAP etc. in stabiized mode for easier testflights -->

<module name="baro_ms5611_spi">
<configure name="MS5611_SPI_DEV" value="spi1"/>
Expand All @@ -345,7 +358,9 @@ NOTES:

<!-- Quite a good alternative for the catapult module in this case -->
<!--<module name="takeoff_detect">-->
<!--<define name="TAKEOFF_DETECT_LAUNCH_PITCH" value="0.785398"/>--><!-- unit="rad"--><!--45deg Pitch angle for takeoff detection (sets 'launch' state to TRUE)-->
<!--<define name="TAKEOFF_DETECT_LAUNCH_PITCH" value="0.785398"/>-->
<!-- unit="rad"-->
<!--45deg Pitch angle for takeoff detection (sets 'launch' state to TRUE)-->
<!--<define name="TAKEOFF_DETECT_ABORT_PITCH" value="-0.349066"/>--> <!-- unit="rad"--> <!-- -20deg Pitch angle to abort takeoff (set 'launch' to FALSE)-->
<!--<define name="TAKEOFF_DETECT_TIMER" value="1.2"/>--> <!-- Timer for takeoff detection in seconds (default 2s above pitch angle threshold)-->
<!--<define name="TAKEOFF_DETECT_DISABLE_TIMER" value="6.0"/>--> <!--Timer for module de-activation (default 4s after the launch detection)-->
Expand Down Expand Up @@ -380,21 +395,24 @@ NOTES:
<!-- <module name="current_sensor">
<define name="USE_ADC_3"/>
<configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>-->
<!-- <define name="CURRENT_ESTIMATION_NONLINEARITY" value="1.3"/>--><!-- TODO determine -->
<!-- <define name="CURRENT_ESTIMATION_NONLINEARITY" value="1.3"/>-->
<!-- TODO determine -->
<!-- </module>-->

<module name="nav" type="line"/>
<module name="nav" type="line_border"/>
<module name="nav" type="line_osam"/>
<module name="nav" type="survey_polygon">
<define name="POLYSURVEY_DEFAULT_DISTANCE" value="40"/> <!--unit="m"--><!-- Make it your fit for plan and camera type for overlap -->
<define name="POLYSURVEY_DEFAULT_DISTANCE" value="40"/> <!--unit="m"-->
<!-- Make it your fit for plan and camera type for overlap -->
</module>
<module name="nav" type="survey_poly_osam"/>
<module name="nav" type="smooth"/>
<module name="nav" type="vertical_raster"/>
<module name="nav" type="flower"/>

<!-- module name="nav" type="catapult"/> --><!-- TODO Switch it on later after first flights -->
<!-- module name="nav" type="catapult"/> -->
<!-- TODO Switch it on later after first flights -->

<!-- For R15 a ST LIS3MDL magneto on the main PCB test if conflict with other magneto -->
<!--module name="mag_lis3mdl">
Expand All @@ -417,9 +435,11 @@ NOTES:
our luck at least the tree axis are aligned already in hardware :) -->
<module name="mag" type="hmc58xx">
<!-- <define name="MAG_TO_IMU_THETA" value="6" unit="deg"/>-->
<!--<define name="HMC58XX_STARTUP_DELAY" value="1.4"/>--><!-- If you mag somehow does not work, Enable this line, and maybe even change it to a higher value if it still does not work e.g. 1.9 -->
<!--<define name="HMC58XX_STARTUP_DELAY" value="1.4"/>-->
<!-- If you mag somehow does not work, Enable this line, and maybe even change it to a higher value if it still does not work e.g. 1.9 -->
<configure name="MAG_HMC58XX_I2C_DEV" value="i2c1"/>
<!--<define name="MODULE_HMC58XX_SYNC_SEND" value="TRUE"/>--><!-- temporary for debugging external magneto and setup orientation sign and Body to Magneto angles-->
<!--<define name="MODULE_HMC58XX_SYNC_SEND" value="TRUE"/>-->
<!-- temporary for debugging external magneto and setup orientation sign and Body to Magneto angles-->
<define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE"/> <!-- When all calib and works to TRUE -->

<define name="HMC58XX_CHAN_X" value="1"/>
Expand Down Expand Up @@ -873,7 +893,8 @@ The most crucial part for the magnetometer calibration:
<define name="ROLL_KFFA" value="100"/>
<define name="ROLL_KFFD" value="10"/>

<!--<define name="PITCH_OF_ROLL" value="4." unit="deg"/>--><!-- TODO: -->
<!--<define name="PITCH_OF_ROLL" value="4." unit="deg"/>-->
<!-- TODO: -->
<define name="AILERON_OF_THROTTLE" value="0.0"/><!-- TODO: in case of some pusher prop over control flap -->

</section>
Expand Down Expand Up @@ -985,8 +1006,10 @@ The most crucial part for the magnetometer calibration:
<!-- **************************** BAT ****************************** -->
<section name="BAT">
<define name="MAX_BAT_CAPACITY" value="2200" unit="mAh"/><!-- Change if battery is differen en you have no current measurement -->
<!--<define name="MilliAmpereOfAdc(_adc)" value="(_adc-632)*4.14"/>--><!-- Change if you have a non default 3DR type powerbrick-->
<!--<define name="VoltageOfAdc(_adc)" value="0.01017793941"/>--><!-- Change if you have a non default 3DR type powerbrick-->
<!--<define name="MilliAmpereOfAdc(_adc)" value="(_adc-632)*4.14"/>-->
<!-- Change if you have a non default 3DR type powerbrick-->
<!--<define name="VoltageOfAdc(_adc)" value="0.01017793941"/>-->
<!-- Change if you have a non default 3DR type powerbrick-->
<!-- tested at V 11.7 the avg --> <!-- idle RPM then ?.0A half throttle ?A-->
<define name="MILLIAMP_AT_IDLE_THROTTLE" value="280" unit="mA"/><!-- We substract ESC selfusage+AP+telemetry max-->
<define name="MILLIAMP_AT_FULL_THROTTLE" value="10600" unit="mA"/><!--at max volts-->
Expand Down

0 comments on commit 39bc65b

Please sign in to comment.