Merge pull request #205 from flixr/nps_sim

target 'nps' for the nps simulator
paparazzi · Jun 5, 2012 · 5adfaca · 5adfaca
2 parents 4fc6a0d + e67543f
commit 5adfaca
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Showing 56 changed files with 581 additions and 631 deletions.
diff --git a/conf/airframes/ENAC/quadrotor/blender.xml b/conf/airframes/ENAC/quadrotor/blender.xml
@@ -17,7 +17,7 @@
       <define name="USE_GPS_ACC4R"/>
       <define name="ACTUATORS_START_DELAY" value="3"/>
     </target>
-    <target name="sim" board="pc">
+    <target name="nps" board="pc">
       <subsystem name="fdm"         type="nps"/>
     </target>
 

diff --git a/conf/airframes/ENAC/quadrotor/booz2_g1.xml b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
@@ -22,7 +22,7 @@
       <define name="USE_GPS_ACC4R"/>
       <define name="ACTUATORS_START_DELAY" value="3"/>
     </target>
-    <target name="sim" board="pc">
+    <target name="nps" board="pc">
       <subsystem name="fdm"         type="nps"/>
       <!--define name="NPS_NO_SUPERVISION"/-->
     </target>

diff --git a/conf/airframes/ENAC/quadrotor/navgo.xml b/conf/airframes/ENAC/quadrotor/navgo.xml
@@ -17,7 +17,7 @@
       <define name="FAILSAFE_GROUND_DETECT"/>
       <define name="USE_GPS_ACC4R"/>
     </target>
-    <target name="sim" board="pc">
+    <target name="nps" board="pc">
       <subsystem name="fdm"         type="nps"/>
     </target>
 

diff --git a/conf/airframes/Poine/booz2_a1.xml b/conf/airframes/Poine/booz2_a1.xml
@@ -196,7 +196,7 @@
 
   <firmware name="rotorcraft">
     <target name="ap" board="booz_1.0"/>
-    <target name="sim" board="pc">
+    <target name="nps" board="pc">
       <subsystem name="fdm"         type="nps"/>
     </target>
     <subsystem name="radio_control" type="ppm"/>

diff --git a/conf/airframes/Poine/booz2_a7.xml b/conf/airframes/Poine/booz2_a7.xml
@@ -220,7 +220,7 @@
       <subsystem name="radio_control" type="spektrum"/>
       <subsystem name="actuators"     type="asctec"/>
     </target>
-    <target name="sim" board="pc">
+    <target name="nps" board="pc">
       <subsystem name="fdm"           type="nps"/>
       <subsystem name="radio_control" type="ppm"/>
       <subsystem name="actuators"     type="mkk"/>

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
@@ -14,18 +14,17 @@
             <subsystem name="radio_control" type="spektrum"/>
             <define name="RADIO_MODE" value="RADIO_AUX1"/>
             <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
-            <define name ="RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value = "UART5"/>
-            <define name ="OVERRIDE_UART5_IRQ_HANDLER"/>
-            <subsystem name="actuators"     type="mkk"/>
-            <subsystem name="telemetry"     type="transparent"/>
+            <define name="RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value="UART5"/>
+            <define name="OVERRIDE_UART5_IRQ_HANDLER"/>
         </target>
 
-        <target name="sim" board="pc">
+        <target name="nps" board="pc">
             <subsystem name="fdm"           type="nps"/>
             <subsystem name="radio_control" type="ppm"/>
-            <subsystem name="actuators"     type="mkk"/>
         </target>
 
+        <subsystem name="telemetry"     type="transparent"/>
+        <subsystem name="actuators"     type="mkk"/>
         <subsystem name="imu"           type="aspirin_v1.5"/>
         <subsystem name="gps"           type="ublox">
             <configure name="GPS_BAUD"    value="B57600"/>
@@ -84,13 +83,11 @@
         <axis name="THRUST" failsafe_value="0"/>
     </commands>
 
-    <!-- for the sim -->
     <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
         <define name="NB" value="4"/>
         <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
     </section>
 
-
     <section name="SUPERVISION" prefix="SUPERVISION_">
         <define name="MIN_MOTOR" value="2"/>
         <define name="MAX_MOTOR" value="210"/>
@@ -268,7 +265,7 @@
     <section name="SIMULATOR" prefix="NPS_">
         <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
         <define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
-        <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
+        <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
     </section>
 
 </airframe>
diff --git a/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml b/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
@@ -8,42 +8,24 @@
  GPS connected to UART1 (Since this is inside in a metal box it won't ever get a solution)
  -->
 <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="gps"			type="ublox"/>
-        <subsystem name="imu"			type="b2_v1.2"/>
-        <subsystem name="stabilization"	type="euler"/>
-        <subsystem name="ahrs"			type="int_cmpl_quat"/>
-        <subsystem name="navigation"/>
-    </firmware>
--->
 
     <firmware name="rotorcraft">
         <target name="ap" board="lisa_l_1.1">
             <!--define name="NO_RC_THRUST_LIMIT"/-->
             <subsystem name="radio_control" type="spektrum"/>
             <define name="RADIO_MODE" value="RADIO_AUX1"/>
             <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
-            <define name ="RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value = "UART5"/>
-            <define name ="OVERRIDE_UART5_IRQ_HANDLER"/>
-            <subsystem name="actuators"     type="mkk"/>
-            <subsystem name="telemetry"     type="transparent"/>
+            <define name="RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value="UART5"/>
+            <define name="OVERRIDE_UART5_IRQ_HANDLER"/>
         </target>
 
-        <target name="sim" board="pc">
+        <target name="nps" board="pc">
             <subsystem name="fdm"           type="nps"/>
             <subsystem name="radio_control" type="ppm"/>
-            <subsystem name="actuators"     type="mkk"/>
         </target>
 
+        <subsystem name="actuators"     type="mkk"/>
+        <subsystem name="telemetry"     type="transparent"/>
         <subsystem name="imu"           type="b2_v1.2"/>
         <subsystem name="gps"           type="ublox">
             <configure name="GPS_BAUD"    value="B57600"/>

diff --git a/conf/airframes/booz2_flixr.xml b/conf/airframes/booz2_flixr.xml
@@ -9,7 +9,7 @@
       <define name="USE_INS_NAV_INIT"/>
     </target>
 
-    <target name="sim" board="pc">
+    <target name="nps" board="pc">
       <subsystem name="fdm"   type="nps"/>
     </target>
 

diff --git a/conf/airframes/esden/lisa_asctec.xml b/conf/airframes/esden/lisa_asctec.xml
@@ -183,18 +183,17 @@
     <target name="ap" board="lisa_l_1.1">
 <!--      <define name="ACTUATORS_START_DELAY" value="1"/> -->
       <subsystem name="radio_control" type="spektrum"/>
-      <subsystem name="actuators"     type="asctec_v2"/>
-      <subsystem name="telemetry"     type="transparent"/>
       <define name="RADIO_MODE" value="RADIO_AUX2"/>
       <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
       <define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/>
     </target>
-    <target name="sim" board="pc">
+    <target name="nps" board="pc">
       <subsystem name="fdm"           type="nps"/>
       <subsystem name="radio_control" type="ppm"/>
-      <subsystem name="actuators"     type="mkk"/>
     </target>
 
+    <subsystem name="telemetry"     type="transparent"/>
+    <subsystem name="actuators"     type="asctec_v2"/>
     <subsystem name="imu"           type="b2_v1.1"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>

diff --git a/conf/airframes/esden/lisa_asctec_aspirin.xml b/conf/airframes/esden/lisa_asctec_aspirin.xml
@@ -191,7 +191,7 @@
       <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
       <define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/>
     </target>
-    <target name="sim" board="pc">
+    <target name="nps" board="pc">
       <subsystem name="fdm"           type="nps"/>
       <subsystem name="radio_control" type="ppm"/>
       <subsystem name="actuators"     type="mkk"/>

diff --git a/conf/airframes/esden/lisa_m_2_asp_2_pwm.xml b/conf/airframes/esden/lisa_m_2_asp_2_pwm.xml
@@ -39,13 +39,6 @@
 
   </command_laws>
 
-  <!-- for the sim -->
-  <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
-    <define name="NB" value="4"/>
-    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
-  </section>
-
-
   <section name="SUPERVISION" prefix="SUPERVISION_">
     <define name="STOP_MOTOR" value="1000"/>
     <define name="MIN_MOTOR" value="1100"/>
@@ -187,19 +180,19 @@
     <target name="ap" board="lisa_m_2.0">
 <!--      <define name="BOOZ_START_DELAY" value="1"/> -->
       <subsystem name="radio_control" type="spektrum"/>
-      <subsystem name="actuators"     type="pwm_supervision"/>
       <subsystem name="telemetry"     type="transparent"/>
-      <define name="SERVO_HZ" value="400"/>
       <define name="RADIO_MODE" value="RADIO_AUX2"/>
       <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
       <!--define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/-->
     </target>
-    <target name="sim" board="pc">
+    <target name="nps" board="pc">
       <subsystem name="fdm"           type="nps"/>
       <subsystem name="radio_control" type="ppm"/>
-      <subsystem name="actuators"     type="mkk"/>
     </target>
 
+    <subsystem name="actuators"     type="pwm_supervision">
+      <define name="SERVO_HZ" value="400"/>
+    </subsystem>
     <subsystem name="imu"           type="aspirin_v2.1"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="int_quat"/>

diff --git a/conf/airframes/esden/lisa_m_pwm.xml b/conf/airframes/esden/lisa_m_pwm.xml
@@ -30,13 +30,6 @@
 
   </command_laws>
 
-  <!-- for the sim -->
-  <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
-    <define name="NB" value="4"/>
-    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
-  </section>
-
-
   <section name="SUPERVISION" prefix="SUPERVISION_">
     <define name="STOP_MOTOR" value="1000"/>
     <define name="MIN_MOTOR" value="1200"/>
@@ -206,19 +199,20 @@
     <target name="ap" board="lisa_m_1.0">
 <!--      <define name="ACTUATORS_START_DELAY" value="1"/> -->
       <subsystem name="radio_control" type="spektrum"/>
-      <subsystem name="actuators"     type="pwm_supervision"/>
-      <subsystem name="telemetry"     type="transparent"/>
-      <define name="SERVO_HZ" value="400"/>
       <define name="RADIO_MODE" value="RADIO_AUX2"/>
       <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
       <define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/>
     </target>
-    <target name="sim" board="pc">
+    <target name="nps" board="pc">
       <subsystem name="fdm"           type="nps"/>
       <subsystem name="radio_control" type="ppm"/>
-      <subsystem name="actuators"     type="mkk"/>
     </target>
 
+    <subsystem name="actuators"     type="pwm_supervision">
+      <define name="SERVO_HZ" value="400"/>
+    </subsystem>
+
+    <subsystem name="telemetry"     type="transparent"/>
     <subsystem name="imu"           type="aspirin_v1.0"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>

diff --git a/conf/airframes/esden/lisa_pwm_aspirin.xml b/conf/airframes/esden/lisa_pwm_aspirin.xml
@@ -192,7 +192,7 @@
       <define name = "RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value = "UART5"/>
       <define name = "OVERRIDE_UART5_IRQ_HANDLER"/>
     </target>
-    <target name="sim" board="pc">
+    <target name="nps" board="pc">
       <subsystem name="fdm"           type="nps"/>
       <subsystem name="radio_control" type="ppm"/>
       <subsystem name="actuators"     type="mkk"/>

diff --git a/conf/airframes/examples/booz2.xml b/conf/airframes/examples/booz2.xml
@@ -14,12 +14,10 @@
     <axis name="THRUST" failsafe_value="0"/>
   </commands>
 
-<!-- not needed anymore - in subsystem -->
   <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
     <define name="NB" value="4"/>
     <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
   </section>
-<!--  -->
 
   <section name="SUPERVISION" prefix="SUPERVISION_">
     <define name="MIN_MOTOR" value="2"/>
@@ -196,7 +194,7 @@
 
   <firmware name="rotorcraft">
     <target name="ap" board="booz_1.0"/>
-    <target name="sim" board="pc">
+    <target name="nps" board="pc">
       <subsystem name="fdm"         type="nps"/>
     </target>
     <subsystem name="radio_control" type="ppm"/>

diff --git a/conf/airframes/examples/quadrotor_lisa_m_2_pwm.xml b/conf/airframes/examples/quadrotor_lisa_m_2_pwm.xml
@@ -7,6 +7,10 @@
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_m_2.0"/>
 
+    <target name="nps" board="pc">
+      <subsystem name="fdm"           type="nps"/>
+    </target>
+
     <subsystem name="actuators"     type="pwm_supervision">
       <define name="SERVO_HZ" value="400"/>
     </subsystem>
@@ -174,6 +178,12 @@
     <define name="IGAIN" value="0"/>
   </section>
 
+  <section name="SIMULATOR" prefix="NPS_">
+    <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
+    <define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
+    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+  </section>
+
   <section name="AUTOPILOT">
     <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
     <define name="MODE_AUTO1"  value="AP_MODE_ATTITUDE_Z_HOLD"/>

diff --git a/conf/airframes/examples/quadrotor_lisa_m_mkk.xml b/conf/airframes/examples/quadrotor_lisa_m_mkk.xml
@@ -8,7 +8,7 @@
     <target name="ap" board="lisa_m_1.0">
       <define name="ACTUATORS_START_DELAY" value="3"/>
     </target>
-    <target name="sim" board="pc">
+    <target name="nps" board="pc">
       <subsystem name="fdm"           type="nps"/>
     </target>
 
@@ -171,7 +171,7 @@
   <section name="SIMULATOR" prefix="NPS_">
     <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
     <define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
-    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_aspirin_1.5.h&quot;"/>
+    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
   </section>
 
   <section name="AUTOPILOT">

diff --git a/conf/airframes/fraser_lisa_m_rotorcraft.xml b/conf/airframes/fraser_lisa_m_rotorcraft.xml
@@ -11,7 +11,7 @@
       <!--configure name="USE_NEW_I2C_DRIVER" value="1"/-->
     </target>
 
-    <target name="sim" board="pc">
+    <target name="nps" board="pc">
       <subsystem name="fdm"           type="nps"/>
     </target>
 
@@ -207,7 +207,7 @@
   <section name="SIMULATOR" prefix="NPS_">
     <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
     <define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
-    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_aspirin_1.5.h&quot;"/>
+    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
   </section>
 
   <section name="AUTOPILOT">

diff --git a/conf/airframes/mm/rotor/qmk1.xml b/conf/airframes/mm/rotor/qmk1.xml
@@ -16,7 +16,6 @@
     <axis name="THRUST" failsafe_value="0"/>
   </commands>
 
-  <!-- for the sim -->
   <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
     <define name="NB" value="4"/>
     <define name="ADDR" value="{ 0x52, 0x54, 0x58, 0x56 }"/>
@@ -191,7 +190,7 @@
       <subsystem name="radio_control" type="ppm"/>
       <subsystem name="actuators"     type="mkk"/>
     </target>
-    <target name="sim" board="pc">
+    <target name="nps" board="pc">
       <subsystem name="fdm"           type="nps"/>
       <subsystem name="radio_control" type="ppm"/>
       <subsystem name="actuators"     type="mkk"/>

diff --git a/conf/airframes/mm/rotor/quadrotor_lisa_l_mkk.xml b/conf/airframes/mm/rotor/quadrotor_lisa_l_mkk.xml
@@ -8,7 +8,7 @@
       <!--configure name="USE_NEW_I2C_DRIVER" value="1"/-->
     </target>
 
-    <target name="sim" board="pc">
+    <target name="nps" board="pc">
       <subsystem name="fdm"           type="nps"/>
     </target>