Merge branch 'dev' into 4.0_beta

paparazzi · Mar 20, 2012 · 596fee5 · 596fee5
2 parents 011e7bd + 58b842d
commit 596fee5
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Showing 57 changed files with 17,451 additions and 66 deletions.
diff --git a/.gitignore b/.gitignore
@@ -170,3 +170,13 @@
 
 # Mac OS X
 .DS_Store
+
+sw/ground_segment/lpc21iap/lpc21iap.dSYM/Contents/Info.plist
+
+sw/ground_segment/lpc21iap/lpc21iap.dSYM/Contents/Resources/DWARF/lpc21iap
+
+tests/results/*
+
+sw/logalizer/plotprofile.dSYM/Contents/Resources/DWARF/plotprofile
+
+sw/logalizer/plotprofile.dSYM/Contents/Info.plist
diff --git a/Makefile b/Makefile
@@ -238,6 +238,7 @@ clean:
 	$(Q)find . -mindepth 2 -name Makefile -exec sh -c 'echo "Cleaning {}"; $(MAKE) -C `dirname {}` $@' \;
 	$(Q)find . -name '*~' -exec rm -f {} \;
 	$(Q)rm -f paparazzi sw/simulator/launchsitl
+	$(Q)rm -rf tests/results/*
 
 cleanspaces:
 	find ./sw/airborne -name '*.[ch]' -exec sed -i {} -e 's/[ \t]*$$//' \;
@@ -258,9 +259,6 @@ dist_clean_irreversible: clean
 ab_clean:
 	find sw/airborne -name '*~' -exec rm -f {} \;
 
-test_all_example_airframes: replace_current_conf_xml
-	for ap in `grep name conf/conf.xml.example | sed -e 's/.*name=\"//' | sed -e 's/".*//'`; do for airframe in `grep $$ap conf/conf.xml.example | sed -e 's/.*airframe=\"//' | sed -e 's/".*//'`; do for target in `grep target conf/$$airframe | grep name | sed -e 's/.*name=\"//' | sed -e 's/\".*//'`; do echo "Making $$ap $$target"; make -C ./ AIRCRAFT=$$ap clean_ac $$target.compile || exit 1; done; done; done
-
 replace_current_conf_xml:
 	test conf/conf.xml || mv conf/conf.xml conf/conf.xml.backup.`date +%Y%m%d-%H%M%s`
 	cp conf/conf.xml.example conf/conf.xml
@@ -275,4 +273,9 @@ sw/simulator/launchsitl:
 	cat src/$(@F) | sed s#OCAMLRUN#$(OCAMLRUN)# | sed s#OCAML#$(OCAML)# > $@
 	chmod a+x $@
 
+test: all replace_current_conf_xml
+	cd tests; $(MAKE) $(@)
+
+test_all_example_airframes: replace_current_conf_xml
+	cd tests; $(MAKE) $(@) TARGET_BOARD=examples
 
diff --git a/conf/Makefile.stm32 b/conf/Makefile.stm32
@@ -82,6 +82,9 @@ OOCD = $(shell if test -e $(TOOLCHAIN_DIR)/bin/openocd ; then echo $(TOOLCHAIN_D
 endif
 endif
 
+ifneq ($(BOARD_SERIAL),)
+OOCD_OPTIONS = -c "ft2232_serial $(BOARD_SERIAL)"
+endif
 
 LOADER=/home/poine/work/stm32/stm32loader-a3c51c26ad6c/stm32loader.py
 
@@ -258,7 +261,7 @@ upload: $(OBJDIR)/$(TARGET).elf
 	@echo "Using OOCD = $(OOCD)"
 	@echo "  OOCD\t$<"
 	$(Q)$(OOCD) -f interface/$(OOCD_INTERFACE).cfg \
-		-f board/$(OOCD_BOARD).cfg \
+		-f board/$(OOCD_BOARD).cfg $(OOCD_OPTIONS) \
 		-c init \
 		-c "reset halt" \
 		-c "reset init" \

diff --git a/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_fw.xml b/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_fw.xml
@@ -1,2 +1,192 @@
+<!--
+ This airframe is connected to the build server and is used for hardware testing.
+ The hardware configuration is
+ Powered via a plug 12V pack
+ Lisa/L v1.1 board
+ XBee connected to UART2 configured at 38400
+ Aspirin v1.5
+ overo
+ -->
 <airframe name="TestConfig">
+    <firmware name="fixedwing">
+        <target name="sim" 			board="pc"/>
+        <target name="ap" 			board="lisa_l_1.1">
+            <configure name="PERIODIC_FREQUENCY" value="120"/>
+        </target>
+
+        <subsystem name="radio_control" type="ppm"/>
+        <subsystem name="telemetry" 	type="xbee_api">
+            <configure name="MODEM_BAUD" value="B38400"/>
+        </subsystem>
+        <subsystem name="control"/>
+        <subsystem name="imu" type="ppzuav"/>
+        <subsystem name="ahrs" type="float_dcm"/>
+        <subsystem name="navigation"/>
+    </firmware>
+
+    <servos>
+        <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>
+        <servo name="AILEVON_LEFT"  no="1" min="1900" neutral="1534" max="1100"/>
+        <servo name="AILEVON_RIGHT" no="2" min="1100" neutral="1468" max="1900"/>
+    </servos>
+
+    <commands>
+        <axis name="THROTTLE" failsafe_value="0"/>
+        <axis name="ROLL"     failsafe_value="0"/>
+        <axis name="PITCH"    failsafe_value="0"/>
+    </commands>
+
+    <rc_commands>
+        <set command="THROTTLE" value="@THROTTLE"/>
+        <set command="ROLL"     value="@ROLL"/>
+        <set command="PITCH"    value="@PITCH"/>
+    </rc_commands>
+
+    <section name="MIXER">
+        <define name="AILEVON_AILERON_RATE" value="0.45"/>
+        <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
+    </section>
+
+    <command_laws>
+        <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
+        <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
+        <set servo="MOTOR"           value="@THROTTLE"/>
+        <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
+        <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
+    </command_laws>
+
+    <section name="AUTO1" prefix="AUTO1_">
+        <define name="MAX_ROLL" value="50" unit="deg"/>
+        <define name="MAX_PITCH" value="35" unit="deg"/>
+    </section>
+
+    <section name="BAT">
+        <define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
+        <define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
+        <define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
+    </section>
+
+    <section name="FAILSAFE" prefix="FAILSAFE_">
+        <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
+        <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+        <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+        <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+        <define name="HOME_RADIUS" value="100" unit="m"/>
+    </section>
+
+    <section name="MISC">
+        <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
+        <define name="CARROT" value="5." unit="s"/>
+        <define name="CONTROL_RATE" value="60" unit="Hz"/>
+        <define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
+        <!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
+        <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
+        <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
+    </section>
+
+    <!-- Local magnetic field -->
+    <section name="AHRS" prefix="AHRS_" >
+        <define name="H_X" value="0.51562740288882" />
+        <define name="H_Y" value="-0.05707735220832" />
+        <define name="H_Z" value="0.85490967783446" />
+    </section>
+
+    <section name="IMU" prefix="IMU_">
+        <!-- Calibration Neutral -->
+        <define name="GYRO_P_NEUTRAL" value="0"/>
+        <define name="GYRO_Q_NEUTRAL" value="0"/>
+        <define name="GYRO_R_NEUTRAL" value="0"/>
+
+        <!-- SENS = 14.375 LSB/(deg/sec) * 57.6 deg/rad = 828 LSB/rad/sec / 12bit FRAC: 4096 / 828 -->
+        <define name="GYRO_P_SENS" value="4.947" integer="16"/>
+        <define name="GYRO_Q_SENS" value="4.947" integer="16"/>
+        <define name="GYRO_R_SENS" value="4.947" integer="16"/>
+
+        <define name="GYRO_P_Q" value="0."/>
+        <define name="GYRO_P_R" value="0"/>
+        <define name="GYRO_Q_P" value="0."/>
+        <define name="GYRO_Q_R" value="0."/>
+        <define name="GYRO_R_P" value="0."/>
+        <define name="GYRO_R_Q" value="0."/>
+
+        <define name="GYRO_P_SIGN" value="1"/>
+        <define name="GYRO_Q_SIGN" value="1"/>
+        <define name="GYRO_R_SIGN" value="1"/>
+
+        <define name="ACCEL_X_NEUTRAL" value="-14"/>
+        <define name="ACCEL_Y_NEUTRAL" value="0"/>
+        <define name="ACCEL_Z_NEUTRAL" value="0"/>
+
+        <!-- SENS = 256 LSB/g @ 2.5V [X&Y: 265 LSB/g @ 3.3V] / 9.81 ms2/g = 26.095 LSB/ms2 / 10bit FRAC: 1024 / 26.095 for z and 1024 / 27.01 for X&Y -->
+        <define name="ACCEL_X_SENS" value="37.9" integer="16"/>
+        <define name="ACCEL_Y_SENS" value="37.9" integer="16"/>
+        <define name="ACCEL_Z_SENS" value="39.24" integer="16"/>
+
+        <define name="ACCEL_X_SIGN" value="1"/>
+        <define name="ACCEL_Y_SIGN" value="1"/>
+        <define name="ACCEL_Z_SIGN" value="1"/>
+
+        <define name="MAG_X_NEUTRAL" value="0"/>
+        <define name="MAG_Y_NEUTRAL" value="0"/>
+        <define name="MAG_Z_NEUTRAL" value="0"/>
+
+        <define name="MAG_X_SENS" value="1" integer="16"/>
+        <define name="MAG_Y_SENS" value="1" integer="16"/>
+        <define name="MAG_Z_SENS" value="1" integer="16"/>
+
+        <define name="MAG_X_SIGN" value="1"/>
+        <define name="MAG_Y_SIGN" value="1"/>
+        <define name="MAG_Z_SIGN" value="1"/>
+
+        <define name="BODY_TO_IMU_PHI" value="0"/>
+        <define name="BODY_TO_IMU_THETA" value="0"/>
+        <define name="BODY_TO_IMU_PSI" value="0"/>
+    </section>
+
+    <section name="INS" prefix="INS_">
+        <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+        <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+    </section>
+
+    <section name="VERTICAL CONTROL" prefix="V_CTL_">
+        <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
+        <!-- outer loop proportional gain -->
+        <define name="ALTITUDE_PGAIN" value="-0.03"/>
+        <!-- outer loop saturation -->
+        <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+        <!-- auto throttle inner loop -->
+        <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
+        <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
+        <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
+        <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
+        <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
+        <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
+        <define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
+        <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
+        <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
+
+        <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
+    </section>
+
+    <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+        <define name="COURSE_PGAIN" value="-1.20000004768"/>
+        <define name="COURSE_DGAIN" value="0.3"/>
+        <define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
+
+        <define name="ROLL_MAX_SETPOINT" value="0.75" unit="rad"/>
+        <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+        <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
+
+        <define name="PITCH_PGAIN" value="-12000."/>
+        <define name="PITCH_DGAIN" value="1.5"/>
+
+        <define name="ELEVATOR_OF_ROLL" value="1000."/>
+
+        <define name="ROLL_SLEW" value="1."/>
+
+        <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+        <define name="ROLL_RATE_GAIN" value="0."/>
+    </section>
+
 </airframe>
diff --git a/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_rc.xml b/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_rc.xml
@@ -1,2 +1,23 @@
+<!--
+ This airframe is connected to the build server and is used for hardware testing.
+ The hardware configuration is
+ Powered via a plug 12V pack
+ Lisa/L v1.1 board
+ XBee connected to UART2 configured at 38400
+ Aspirin v1.5
+ overo
+ -->
 <airframe name="TestConfig">
+    <firmware name="rotorcraft">
+        <target name="sim" 			board="pc"/>
+        <target name="ap" 			board="lisa_l_1.1"/>
+
+        <subsystem name="radio_control" type="ppm"/>
+        <subsystem name="telemetry" 	type="xbee_api">
+            <configure name="MODEM_BAUD" value="B38400"/>
+        </subsystem>
+        <subsystem name="control"/>
+        <subsystem name="navigation"/>
+    </firmware>
+
 </airframe>
diff --git a/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_fw.xml b/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_fw.xml
@@ -1,2 +1,60 @@
+<!--
+ This airframe is connected to the build server and is used for hardware testing.
+ The hardware configuration is
+ Powered via a plug 12V pack
+ Lisa/L v1.1 board
+ XBee connected to UART2 configured at 38400
+ Booz2 v1.2
+ GPS connected to UART1 (Since this is inside in a metal box it won't ever get a solution)
+ -->
 <airframe name="TestConfig">
+    <firmware name="fixedwing">
+        <target name="sim" 			board="pc"/>
+        <target name="ap" 			board="lisa_l_1.1"/>
+
+        <subsystem name="radio_control" type="ppm"/>
+        <subsystem name="telemetry" 	type="xbee_api">
+            <configure name="MODEM_BAUD" value="B38400"/>
+        </subsystem>
+        <subsystem name="control"/>
+        <subsystem name="gps" 		type="ublox"/>
+        <subsystem name="navigation"/>
+    </firmware>
+
+    <servos>
+        <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>
+        <servo name="AILEVON_LEFT"  no="1" min="1900" neutral="1534" max="1100"/>
+        <servo name="AILEVON_RIGHT" no="2" min="1100" neutral="1468" max="1900"/>
+    </servos>
+
+    <commands>
+        <axis name="THROTTLE" failsafe_value="0"/>
+        <axis name="ROLL"     failsafe_value="0"/>
+        <axis name="PITCH"    failsafe_value="0"/>
+    </commands>
+
+    <rc_commands>
+        <set command="THROTTLE" value="@THROTTLE"/>
+        <set command="ROLL"     value="@ROLL"/>
+        <set command="PITCH"    value="@PITCH"/>
+    </rc_commands>
+
+    <section name="MIXER">
+        <define name="AILEVON_AILERON_RATE" value="0.45"/>
+        <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
+    </section>
+
+    <command_laws>
+        <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
+        <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
+        <set servo="MOTOR"           value="@THROTTLE"/>
+        <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
+        <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
+    </command_laws>
+
+    <section name="AUTO1" prefix="AUTO1_">
+        <define name="MAX_ROLL" value="50" unit="deg"/>
+        <define name="MAX_PITCH" value="35" unit="deg"/>
+    </section>
+
 </airframe>