[conf] Update MAVTec frames

paparazzi · Sep 13, 2015 · b6e5cb6 · b6e5cb6
1 parent cd77f1d
commit b6e5cb6
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Showing 3 changed files with 8 additions and 4 deletions.
diff --git a/conf/airframes/TUDelft/airframes/mavtec4.xml b/conf/airframes/TUDelft/airframes/mavtec4.xml
@@ -26,7 +26,9 @@
     <subsystem name="actuators"     type="pwm"/>
     <subsystem name="telemetry"     type="xbee_api"/>
     <subsystem name="imu"           type="lisa_mx_v2.1"/>
-    <subsystem name="gps"           type="ublox"/>
+    <subsystem name="gps"           type="piksi">
+      <define name="USE_PIKSI_EXT_ANTENNA" value="TRUE"/>
+    </subsystem>
     <subsystem name="stabilization" type="int_quat"/>
     <subsystem name="ahrs"          type="float_mlkf"/>
     <subsystem name="ins" type="hff"/>
@@ -36,7 +38,7 @@
     <load name="geo_mag.xml"/>
     <load name="air_data.xml"/>
     <load name="servo_switch.xml"/>
-    <load name="gps_ubx_ucenter.xml"/>
+    <!--load name="gps_ubx_ucenter.xml"/-->
   </modules>
 
   <servos driver="Asctec_v2">

diff --git a/conf/airframes/TUDelft/airframes/mavtec5.xml b/conf/airframes/TUDelft/airframes/mavtec5.xml
@@ -26,7 +26,9 @@
     <subsystem name="actuators"     type="pwm"/>
     <subsystem name="telemetry"     type="xbee_api"/>
     <subsystem name="imu"           type="lisa_mx_v2.1"/>
-    <subsystem name="gps"           type="ublox"/>
+    <subsystem name="gps"           type="piksi">
+      <define name="USE_PIKSI_EXT_ANTENNA" value="TRUE"/>
+    </subsystem>
     <subsystem name="stabilization" type="int_quat"/>
     <subsystem name="ahrs"          type="float_mlkf"/>
     <subsystem name="ins" type="hff"/>

diff --git a/conf/airframes/TUDelft/conf.xml b/conf/airframes/TUDelft/conf.xml
@@ -84,7 +84,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_float_mlkf.xml"
-   settings_modules="modules/geo_mag.xml modules/air_data.xml modules/servo_switch.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/geo_mag.xml modules/air_data.xml modules/servo_switch.xml"
    gui_color="blue"
   />
   <aircraft