mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-11 10:28:29 -04:00
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
This commit is contained in:
Wenyao Xie
commit
29c2dafb94
@ -214,6 +214,9 @@ static void init_ardupilot()
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gcs3.init(&Serial3);
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#endif
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// identify ourselves correctly with the ground station
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mavlink_system.sysid = g.sysid_this_mav;
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#ifdef RADIO_OVERRIDE_DEFAULTS
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{
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int16_t rc_override[8] = RADIO_OVERRIDE_DEFAULTS;
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@ -13,7 +13,6 @@ static int8_t test_gps(uint8_t argc, const Menu::arg *argv);
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static int8_t test_adc(uint8_t argc, const Menu::arg *argv);
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#endif
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static int8_t test_imu(uint8_t argc, const Menu::arg *argv);
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static int8_t test_gyro(uint8_t argc, const Menu::arg *argv);
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static int8_t test_battery(uint8_t argc, const Menu::arg *argv);
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static int8_t test_current(uint8_t argc, const Menu::arg *argv);
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static int8_t test_relay(uint8_t argc, const Menu::arg *argv);
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@ -57,7 +56,6 @@ static const struct Menu::command test_menu_commands[] PROGMEM = {
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{"gps", test_gps},
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{"rawgps", test_rawgps},
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{"imu", test_imu},
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{"gyro", test_gyro},
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{"airspeed", test_airspeed},
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{"airpressure", test_pressure},
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{"compass", test_mag},
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@ -66,7 +64,6 @@ static const struct Menu::command test_menu_commands[] PROGMEM = {
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{"adc", test_adc},
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{"gps", test_gps},
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{"imu", test_imu},
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{"gyro", test_gyro},
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{"compass", test_mag},
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#elif HIL_MODE == HIL_MODE_ATTITUDE
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#endif
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@ -535,10 +532,14 @@ test_imu(uint8_t argc, const Menu::arg *argv)
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// We are using the IMU
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// ---------------------
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Serial.printf_P(PSTR("r: %d\tp: %d\t y: %d\n"),
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(int)dcm.roll_sensor / 100,
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(int)dcm.pitch_sensor / 100,
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(uint16_t)dcm.yaw_sensor / 100);
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Vector3f gyros = imu.get_gyro();
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Vector3f accels = imu.get_accel();
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Serial.printf_P(PSTR("r:%4d p:%4d y:%3d g=(%5.1f %5.1f %5.1f) a=(%5.1f %5.1f %5.1f)\n"),
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(int)dcm.roll_sensor / 100,
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(int)dcm.pitch_sensor / 100,
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(uint16_t)dcm.yaw_sensor / 100,
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gyros.x, gyros.y, gyros.z,
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accels.x, accels.y, accels.z);
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}
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if(Serial.available() > 0){
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return (0);
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@ -547,36 +548,6 @@ test_imu(uint8_t argc, const Menu::arg *argv)
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}
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static int8_t
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test_gyro(uint8_t argc, const Menu::arg *argv)
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{
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print_hit_enter();
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isr_registry.init();
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timer_scheduler.init(&isr_registry);
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adc.Init(&timer_scheduler);
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delay(1000);
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Serial.printf_P(PSTR("Gyro | Accel\n"));
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delay(1000);
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while(1){
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imu.update(); // need this because we are not calling the DCM
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Vector3f gyros = imu.get_gyro();
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Vector3f accels = imu.get_accel();
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Serial.printf_P(PSTR("%d\t%d\t%d\t|\t%d\t%d\t%d\n"),
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(int)gyros.x,
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(int)gyros.y,
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(int)gyros.z,
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(int)accels.x,
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(int)accels.y,
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(int)accels.z);
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delay(100);
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if(Serial.available() > 0){
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return (0);
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}
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}
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}
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static int8_t
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test_mag(uint8_t argc, const Menu::arg *argv)
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{
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163
Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560-2.build.log
Normal file
163
Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560-2.build.log
Normal file
@ -0,0 +1,163 @@
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%% ArduCopter.cpp
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%% ArduCopter.o
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In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:55:
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/usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
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/usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
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/root/apm/ardupilot-mega/ArduCopter/commands_process.pde: In function 'void update_commands()':
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/root/apm/ardupilot-mega/ArduCopter/commands_process.pde:57: warning: statement has no effect
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||||
/root/apm/ardupilot-mega/ArduCopter/Attitude.pde: At global scope:
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/root/apm/ardupilot-mega/ArduCopter/Attitude.pde:132: warning: 'void reset_hold_I()' defined but not used
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||||
autogenerated:33: warning: 'void init_z_damper()' declared 'static' but never defined
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||||
autogenerated:118: warning: 'void Log_Write_Optflow()' declared 'static' but never defined
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||||
/root/apm/ardupilot-mega/ArduCopter/events.pde:51: warning: 'void low_battery_event()' defined but not used
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||||
autogenerated:183: warning: 'void heli_init_swash()' declared 'static' but never defined
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||||
autogenerated:184: warning: 'void heli_move_servos_to_mid()' declared 'static' but never defined
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autogenerated:185: warning: 'void heli_move_swash(int, int, int, int)' declared 'static' but never defined
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||||
autogenerated:190: warning: 'int heli_get_angle_boost(int)' declared 'static' but never defined
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||||
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:95: warning: 'void calc_loiter2(int, int)' defined but not used
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autogenerated:239: warning: 'int32_t get_alt_distance(Location*, Location*)' declared 'static' but never defined
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||||
/root/apm/ardupilot-mega/ArduCopter/sensors.pde:6: warning: 'void ReadSCP1000()' defined but not used
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||||
autogenerated:250: warning: 'int32_t read_baro_filtered()' declared 'static' but never defined
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||||
/root/apm/ardupilot-mega/ArduCopter/sensors.pde:95: warning: 'void read_airspeed()' defined but not used
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||||
/root/apm/ardupilot-mega/ArduCopter/sensors.pde:100: warning: 'void zero_airspeed()' defined but not used
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||||
autogenerated:264: warning: 'void report_heli()' declared 'static' but never defined
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||||
autogenerated:265: warning: 'void report_gyro()' declared 'static' but never defined
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||||
autogenerated:272: warning: 'RC_Channel* heli_get_servo(int)' declared 'static' but never defined
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||||
autogenerated:273: warning: 'int read_num_from_serial()' declared 'static' but never defined
|
||||
autogenerated:288: warning: 'void init_optflow()' declared 'static' but never defined
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||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:265: warning: 'rc_override' defined but not used
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||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:266: warning: 'rc_override_active' defined but not used
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||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:267: warning: 'rc_override_fs_timer' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:282: warning: 'ch3_failsafe' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:488: warning: 'pmTest1' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1784: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/test.pde:33: warning: 'int8_t test_eedump(uint8_t, const Menu::arg*)' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/test.pde:34: warning: 'int8_t test_rawgps(uint8_t, const Menu::arg*)' declared 'static' but never defined
|
||||
%% libraries/APM_BMP085/APM_BMP085.o
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||||
%% libraries/APM_BMP085/APM_BMP085_hil.o
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||||
%% libraries/APM_PI/APM_PI.o
|
||||
%% libraries/APM_RC/APM_RC.o
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||||
%% libraries/AP_ADC/AP_ADC_ADS7844.o
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||||
%% libraries/AP_ADC/AP_ADC.o
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||||
%% libraries/AP_ADC/AP_ADC_HIL.o
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||||
%% libraries/AP_Common/AP_Common.o
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||||
%% libraries/AP_Common/AP_Loop.o
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||||
%% libraries/AP_Common/AP_MetaClass.o
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||||
%% libraries/AP_Common/AP_Var.o
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||||
%% libraries/AP_Common/AP_Var_menufuncs.o
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||||
%% libraries/AP_Common/c++.o
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||||
%% libraries/AP_Common/menu.o
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||||
%% libraries/AP_Compass/AP_Compass_HIL.o
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||||
%% libraries/AP_Compass/AP_Compass_HMC5843.o
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||||
%% libraries/AP_Compass/Compass.o
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||||
%% libraries/AP_DCM/AP_DCM.o
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||||
%% libraries/AP_DCM/AP_DCM_HIL.o
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||||
%% libraries/AP_GPS/AP_GPS_406.o
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||||
%% libraries/AP_GPS/AP_GPS_Auto.o
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%% libraries/AP_GPS/AP_GPS_HIL.o
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||||
%% libraries/AP_GPS/AP_GPS_IMU.o
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||||
%% libraries/AP_GPS/AP_GPS_MTK16.o
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||||
%% libraries/AP_GPS/AP_GPS_MTK.o
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||||
%% libraries/AP_GPS/AP_GPS_NMEA.o
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%% libraries/AP_GPS/AP_GPS_SIRF.o
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||||
%% libraries/AP_GPS/AP_GPS_UBLOX.o
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%% libraries/AP_GPS/GPS.o
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%% libraries/AP_IMU/AP_IMU_Oilpan.o
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%% libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.o
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||||
In file included from /root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:28:
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/usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
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/usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
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||||
%% libraries/AP_OpticalFlow/AP_OpticalFlow.o
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%% libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.o
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%% libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.o
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%% libraries/AP_RangeFinder/RangeFinder.o
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||||
%% libraries/AP_Relay/AP_Relay.o
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||||
%% libraries/DataFlash/DataFlash.o
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||||
In file included from /root/apm/ardupilot-mega/libraries/DataFlash/DataFlash.cpp:36:
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||||
/usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
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||||
/usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
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||||
%% libraries/FastSerial/BetterStream.o
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%% libraries/FastSerial/FastSerial.o
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%% libraries/FastSerial/vprintf.o
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%% libraries/GCS_MAVLink/GCS_MAVLink.o
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%% libraries/ModeFilter/ModeFilter.o
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%% libraries/RC_Channel/RC_Channel_aux.o
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||||
%% libraries/RC_Channel/RC_Channel.o
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||||
%% libraries/memcheck/memcheck.o
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||||
%% libraries/FastSerial/ftoa_engine.o
|
||||
%% libraries/FastSerial/ultoa_invert.o
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||||
%% libraries/SPI/SPI.o
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||||
In file included from /usr/local/share/arduino/libraries/SPI/SPI.cpp:12:
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||||
/usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
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||||
/usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
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||||
%% libraries/Wire/Wire.o
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||||
%% libraries/Wire/utility/twi.o
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cc1: warning: command line option "-Wno-reorder" is valid for C++/ObjC++ but not for C
|
||||
%% arduino/HardwareSerial.o
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/HardwareSerial.cpp:28:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
%% arduino/main.o
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||||
%% arduino/Print.o
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||||
%% arduino/Tone.o
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/Tone.cpp:93: warning: only initialized variables can be placed into program memory area
|
||||
%% arduino/WMath.o
|
||||
%% arduino/WString.o
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:26:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:84: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:85: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:86: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:87: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:88: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:89: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:90: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:91: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:93: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:94: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:95: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:100: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:101: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:102: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:103: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:104: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:105: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:106: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:107: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:109: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:110: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:111: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:116: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:117: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:118: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:119: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:120: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:121: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:122: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:123: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:125: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:126: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:127: warning: initialization makes integer from pointer without a cast
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/WInterrupts.c:34:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_analog.c:27:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring.c:25:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_digital.c:27:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_pulse.c:25:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_shift.c:25:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
%% arduino/core.a
|
||||
%% ArduCopter.elf
|
||||
%% ArduCopter.eep
|
||||
%% ArduCopter.hex
|
||||
623
Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560-2.size.txt
Normal file
623
Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560-2.size.txt
Normal file
@ -0,0 +1,623 @@
|
||||
00000001 b wp_control
|
||||
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|
||||
00000001 b home_is_set
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560-2.build.log
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@ -0,0 +1,177 @@
|
||||
%% ArduCopter.cpp
|
||||
%% ArduCopter.o
|
||||
In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:55:
|
||||
/usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
|
||||
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|
||||
/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde: In function 'bool mavlink_try_send_message(mavlink_channel_t, ap_message, uint16_t)':
|
||||
/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:300: warning: enumeration value 'MSG_RAW_IMU1' not handled in switch
|
||||
/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:300: warning: enumeration value 'MSG_RAW_IMU2' not handled in switch
|
||||
/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:300: warning: enumeration value 'MSG_RAW_IMU3' not handled in switch
|
||||
/root/apm/ardupilot-mega/ArduCopter/commands_process.pde: In function 'void update_commands()':
|
||||
/root/apm/ardupilot-mega/ArduCopter/commands_process.pde:57: warning: statement has no effect
|
||||
/root/apm/ardupilot-mega/ArduCopter/Attitude.pde: At global scope:
|
||||
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|
||||
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|
||||
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|
||||
autogenerated:56: warning: 'void send_raw_imu2(mavlink_channel_t)' declared 'static' but never defined
|
||||
autogenerated:57: warning: 'void send_raw_imu3(mavlink_channel_t)' declared 'static' but never defined
|
||||
autogenerated:112: warning: 'void Log_Write_Raw()' declared 'static' but never defined
|
||||
autogenerated:118: warning: 'void Log_Write_Optflow()' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/events.pde:51: warning: 'void low_battery_event()' defined but not used
|
||||
autogenerated:183: warning: 'void heli_init_swash()' declared 'static' but never defined
|
||||
autogenerated:184: warning: 'void heli_move_servos_to_mid()' declared 'static' but never defined
|
||||
autogenerated:185: warning: 'void heli_move_swash(int, int, int, int)' declared 'static' but never defined
|
||||
autogenerated:190: warning: 'int heli_get_angle_boost(int)' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:95: warning: 'void calc_loiter2(int, int)' defined but not used
|
||||
autogenerated:239: warning: 'int32_t get_alt_distance(Location*, Location*)' declared 'static' but never defined
|
||||
autogenerated:248: warning: 'void ReadSCP1000()' declared 'static' but never defined
|
||||
autogenerated:249: warning: 'void init_barometer()' declared 'static' but never defined
|
||||
autogenerated:250: warning: 'int32_t read_baro_filtered()' declared 'static' but never defined
|
||||
autogenerated:251: warning: 'int32_t read_barometer()' declared 'static' but never defined
|
||||
autogenerated:252: warning: 'void read_airspeed()' declared 'static' but never defined
|
||||
autogenerated:253: warning: 'void zero_airspeed()' declared 'static' but never defined
|
||||
autogenerated:264: warning: 'void report_heli()' declared 'static' but never defined
|
||||
autogenerated:265: warning: 'void report_gyro()' declared 'static' but never defined
|
||||
autogenerated:272: warning: 'RC_Channel* heli_get_servo(int)' declared 'static' but never defined
|
||||
autogenerated:273: warning: 'int read_num_from_serial()' declared 'static' but never defined
|
||||
autogenerated:288: warning: 'void init_optflow()' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:265: warning: 'rc_override' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:266: warning: 'rc_override_active' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:267: warning: 'rc_override_fs_timer' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:282: warning: 'ch3_failsafe' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:365: warning: 'abs_pressure' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:366: warning: 'ground_pressure' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:367: warning: 'ground_temperature' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:377: warning: 'old_sonar_alt' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:488: warning: 'pmTest1' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1784: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/test.pde:33: warning: 'int8_t test_eedump(uint8_t, const Menu::arg*)' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/test.pde:34: warning: 'int8_t test_rawgps(uint8_t, const Menu::arg*)' declared 'static' but never defined
|
||||
%% libraries/APM_BMP085/APM_BMP085.o
|
||||
%% libraries/APM_BMP085/APM_BMP085_hil.o
|
||||
%% libraries/APM_PI/APM_PI.o
|
||||
%% libraries/APM_RC/APM_RC.o
|
||||
%% libraries/AP_ADC/AP_ADC_ADS7844.o
|
||||
%% libraries/AP_ADC/AP_ADC.o
|
||||
%% libraries/AP_ADC/AP_ADC_HIL.o
|
||||
%% libraries/AP_Common/AP_Common.o
|
||||
%% libraries/AP_Common/AP_Loop.o
|
||||
%% libraries/AP_Common/AP_MetaClass.o
|
||||
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|
||||
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|
||||
%% libraries/AP_Common/c++.o
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
||||
%% libraries/AP_GPS/AP_GPS_Auto.o
|
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%% libraries/AP_GPS/AP_GPS_HIL.o
|
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|
||||
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|
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|
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|
||||
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|
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|
||||
In file included from /root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:28:
|
||||
/usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
|
||||
/usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
|
||||
%% libraries/AP_OpticalFlow/AP_OpticalFlow.o
|
||||
%% libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.o
|
||||
%% libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.o
|
||||
%% libraries/AP_RangeFinder/RangeFinder.o
|
||||
%% libraries/AP_Relay/AP_Relay.o
|
||||
%% libraries/DataFlash/DataFlash.o
|
||||
In file included from /root/apm/ardupilot-mega/libraries/DataFlash/DataFlash.cpp:36:
|
||||
/usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
|
||||
/usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
|
||||
%% libraries/FastSerial/BetterStream.o
|
||||
%% libraries/FastSerial/FastSerial.o
|
||||
%% libraries/FastSerial/vprintf.o
|
||||
%% libraries/GCS_MAVLink/GCS_MAVLink.o
|
||||
%% libraries/ModeFilter/ModeFilter.o
|
||||
%% libraries/RC_Channel/RC_Channel_aux.o
|
||||
%% libraries/RC_Channel/RC_Channel.o
|
||||
%% libraries/memcheck/memcheck.o
|
||||
%% libraries/FastSerial/ftoa_engine.o
|
||||
%% libraries/FastSerial/ultoa_invert.o
|
||||
%% libraries/SPI/SPI.o
|
||||
In file included from /usr/local/share/arduino/libraries/SPI/SPI.cpp:12:
|
||||
/usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
|
||||
/usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
|
||||
%% libraries/Wire/Wire.o
|
||||
%% libraries/Wire/utility/twi.o
|
||||
cc1: warning: command line option "-Wno-reorder" is valid for C++/ObjC++ but not for C
|
||||
%% arduino/HardwareSerial.o
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/HardwareSerial.cpp:28:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
%% arduino/main.o
|
||||
%% arduino/Print.o
|
||||
%% arduino/Tone.o
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/Tone.cpp:93: warning: only initialized variables can be placed into program memory area
|
||||
%% arduino/WMath.o
|
||||
%% arduino/WString.o
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:26:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:84: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:85: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:86: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:87: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:88: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:89: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:90: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:91: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:93: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:94: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:95: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:100: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:101: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:102: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:103: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:104: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:105: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:106: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:107: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:109: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:110: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:111: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:116: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:117: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:118: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:119: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:120: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:121: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:122: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:123: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:125: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:126: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:127: warning: initialization makes integer from pointer without a cast
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/WInterrupts.c:34:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_analog.c:27:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring.c:25:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_digital.c:27:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_pulse.c:25:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_shift.c:25:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
%% arduino/core.a
|
||||
%% ArduCopter.elf
|
||||
%% ArduCopter.eep
|
||||
%% ArduCopter.hex
|
||||
619
Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560-2.size.txt
Normal file
619
Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560-2.size.txt
Normal file
@ -0,0 +1,619 @@
|
||||
00000001 b wp_control
|
||||
00000001 b GPS_enabled
|
||||
00000001 b home_is_set
|
||||
00000001 b motor_armed
|
||||
00000001 b motor_light
|
||||
00000001 b CH7_wp_index
|
||||
00000001 b control_mode
|
||||
00000001 b gps_watchdog
|
||||
00000001 b simple_timer
|
||||
00000001 d yaw_tracking
|
||||
00000001 b land_complete
|
||||
00000001 b throttle_mode
|
||||
00000001 b mavlink_active
|
||||
00000001 b prev_nav_index
|
||||
00000001 b wp_verify_byte
|
||||
00000001 d altitude_sensor
|
||||
00000001 b command_yaw_dir
|
||||
00000001 b failsafeCounter
|
||||
00000001 b new_radio_frame
|
||||
00000001 b roll_pitch_mode
|
||||
00000001 b counter_one_herz
|
||||
00000001 b did_ground_start
|
||||
00000001 b in_mavlink_delay
|
||||
00000001 b invalid_throttle
|
||||
00000001 b motor_auto_armed
|
||||
00000001 b old_control_mode
|
||||
00000001 b slow_loopCounter
|
||||
00000001 b takeoff_complete
|
||||
00000001 b command_nav_index
|
||||
00000001 b oldSwitchPosition
|
||||
00000001 b command_cond_index
|
||||
00000001 d ground_start_count
|
||||
00000001 b medium_loopCounter
|
||||
00000001 b command_yaw_relative
|
||||
00000001 d jump
|
||||
00000001 b nav_ok
|
||||
00000001 b event_id
|
||||
00000001 b failsafe
|
||||
00000001 b led_mode
|
||||
00000001 b yaw_mode
|
||||
00000001 b GPS_light
|
||||
00000001 b do_simple
|
||||
00000001 b trim_flag
|
||||
00000001 b dancing_light()::step
|
||||
00000001 b read_control_switch()::switch_debouncer
|
||||
00000001 d GCS_MAVLINK::handleMessage(__mavlink_message*)::mav_nav
|
||||
00000001 B relay
|
||||
00000002 T userhook_50Hz()
|
||||
00000002 T userhook_init()
|
||||
00000002 b climb_rate
|
||||
00000002 b loiter_sum
|
||||
00000002 b sonar_rate
|
||||
00000002 b angle_boost
|
||||
00000002 b event_delay
|
||||
00000002 b event_value
|
||||
00000002 b event_repeat
|
||||
00000002 b loiter_total
|
||||
00000002 b manual_boost
|
||||
00000002 b nav_throttle
|
||||
00000002 b old_baro_alt
|
||||
00000002 b x_rate_error
|
||||
00000002 b y_rate_error
|
||||
00000002 b gps_fix_count
|
||||
00000002 b velocity_land
|
||||
00000002 b x_actual_speed
|
||||
00000002 b y_actual_speed
|
||||
00000002 b loiter_time_max
|
||||
00000002 b command_yaw_time
|
||||
00000002 b crosstrack_error
|
||||
00000002 b event_undo_value
|
||||
00000002 b command_yaw_speed
|
||||
00000002 b auto_level_counter
|
||||
00000002 b waypoint_speed_gov
|
||||
00000002 b superslow_loopCounter
|
||||
00000002 r comma
|
||||
00000002 b g_gps
|
||||
00000002 b airspeed
|
||||
00000002 b baro_alt
|
||||
00000002 b baro_rate
|
||||
00000002 b sonar_alt
|
||||
00000002 W AP_IMU_Shim::init_accel(void (*)(unsigned long))
|
||||
00000002 W AP_IMU_Shim::init(IMU::Start_style, void (*)(unsigned long))
|
||||
00000002 W AP_IMU_Shim::init_gyro(void (*)(unsigned long))
|
||||
00000002 b arm_motors()::arming_counter
|
||||
00000002 r erase_logs(unsigned char, Menu::arg const*)::__c
|
||||
00000002 r setup_frame(unsigned char, Menu::arg const*)::__c
|
||||
00000002 r setup_frame(unsigned char, Menu::arg const*)::__c
|
||||
00000002 r setup_frame(unsigned char, Menu::arg const*)::__c
|
||||
00000002 r setup_frame(unsigned char, Menu::arg const*)::__c
|
||||
00000002 r test_wp(unsigned char, Menu::arg const*)::__c
|
||||
00000002 V APM_PI::APM_PI(unsigned int, prog_char_t const*, float const&, float const&, int const&)::__c
|
||||
00000002 V APM_PI::APM_PI(unsigned int, prog_char_t const*, float const&, float const&, int const&)::__c
|
||||
00000003 r select_logs(unsigned char, Menu::arg const*)::__c
|
||||
00000003 r setup_sonar(unsigned char, Menu::arg const*)::__c
|
||||
00000003 r print_enabled(unsigned char)::__c
|
||||
00000003 r setup_compass(unsigned char, Menu::arg const*)::__c
|
||||
00000003 r report_batt_monitor()::__c
|
||||
00000003 r report_batt_monitor()::__c
|
||||
00000003 V RC_Channel::RC_Channel(unsigned int, prog_char_t const*)::__c
|
||||
00000004 d cos_roll_x
|
||||
00000004 b land_start
|
||||
00000004 b long_error
|
||||
00000004 b sin_roll_y
|
||||
00000004 d cos_pitch_x
|
||||
00000004 b event_timer
|
||||
00000004 b loiter_time
|
||||
00000004 d scaleLongUp
|
||||
00000004 b sin_pitch_y
|
||||
00000004 b wp_distance
|
||||
00000004 b circle_angle
|
||||
00000004 b current_amps
|
||||
00000004 b gps_base_alt
|
||||
00000004 b original_alt
|
||||
00000004 b simple_cos_x
|
||||
00000004 b simple_sin_y
|
||||
00000004 b current_total
|
||||
00000004 b nav_loopTimer
|
||||
00000004 d scaleLongDown
|
||||
00000004 b altitude_error
|
||||
00000004 b fast_loopTimer
|
||||
00000004 b perf_mon_timer
|
||||
00000004 b target_bearing
|
||||
00000004 d battery_voltage
|
||||
00000004 b command_yaw_end
|
||||
00000004 b condition_start
|
||||
00000004 b condition_value
|
||||
00000004 b target_altitude
|
||||
00000004 d battery_voltage1
|
||||
00000004 d battery_voltage2
|
||||
00000004 d battery_voltage3
|
||||
00000004 d battery_voltage4
|
||||
00000004 b wp_totalDistance
|
||||
00000004 b command_yaw_delta
|
||||
00000004 b command_yaw_start
|
||||
00000004 b fiftyhz_loopTimer
|
||||
00000004 b old_target_bearing
|
||||
00000004 b throttle_integrator
|
||||
00000004 r __menu_name__log_menu
|
||||
00000004 b command_yaw_start_time
|
||||
00000004 b initial_simple_bearing
|
||||
00000004 b original_target_bearing
|
||||
00000004 d G_Dt
|
||||
00000004 b dTnav
|
||||
00000004 b nav_lat
|
||||
00000004 b nav_lon
|
||||
00000004 b nav_yaw
|
||||
00000004 b old_alt
|
||||
00000004 b auto_yaw
|
||||
00000004 b nav_roll
|
||||
00000004 d cos_yaw_x
|
||||
00000004 b lat_error
|
||||
00000004 b nav_pitch
|
||||
00000004 b sin_yaw_y
|
||||
00000004 b yaw_error
|
||||
00000004 r select_logs(unsigned char, Menu::arg const*)::__c
|
||||
00000004 r select_logs(unsigned char, Menu::arg const*)::__c
|
||||
00000004 r select_logs(unsigned char, Menu::arg const*)::__c
|
||||
00000004 r select_logs(unsigned char, Menu::arg const*)::__c
|
||||
00000004 r select_logs(unsigned char, Menu::arg const*)::__c
|
||||
00000004 r setup_sonar(unsigned char, Menu::arg const*)::__c
|
||||
00000004 r print_switch(unsigned char, unsigned char, bool)::__c
|
||||
00000004 b mavlink_delay(unsigned long)::last_1hz
|
||||
00000004 b mavlink_delay(unsigned long)::last_50hz
|
||||
00000004 r print_enabled(unsigned char)::__c
|
||||
00000004 r setup_compass(unsigned char, Menu::arg const*)::__c
|
||||
00000004 r print_log_menu()::__c
|
||||
00000004 r setup_batt_monitor(unsigned char, Menu::arg const*)::__c
|
||||
00000004 V Parameters::Parameters()::__c
|
||||
00000004 V RC_Channel::RC_Channel(unsigned int, prog_char_t const*)::__c
|
||||
00000004 V RC_Channel::RC_Channel(unsigned int, prog_char_t const*)::__c
|
||||
00000004 V RC_Channel::RC_Channel(unsigned int, prog_char_t const*)::__c
|
||||
00000004 B tuning_value
|
||||
00000005 r __menu_name__test_menu
|
||||
00000005 r report_imu()::__c
|
||||
00000005 r select_logs(unsigned char, Menu::arg const*)::__c
|
||||
00000005 r select_logs(unsigned char, Menu::arg const*)::__c
|
||||
00000005 r select_logs(unsigned char, Menu::arg const*)::__c
|
||||
00000005 r Log_Read_Raw()::__c
|
||||
00000005 r print_switch(unsigned char, unsigned char, bool)::__c
|
||||
00000005 r Log_Read_Mode()::__c
|
||||
00000005 r report_tuning()::__c
|
||||
00000005 r print_log_menu()::__c
|
||||
00000005 r print_log_menu()::__c
|
||||
00000005 r print_log_menu()::__c
|
||||
00000005 r print_log_menu()::__c
|
||||
00000005 V Parameters::Parameters()::__c
|
||||
00000005 V Parameters::Parameters()::__c
|
||||
00000005 V Parameters::Parameters()::__c
|
||||
00000005 V Parameters::Parameters()::__c
|
||||
00000005 V Parameters::Parameters()::__c
|
||||
00000005 V Parameters::Parameters()::__c
|
||||
00000005 V Parameters::Parameters()::__c
|
||||
00000005 V Parameters::Parameters()::__c
|
||||
00000005 V Parameters::Parameters()::__c
|
||||
00000005 V RC_Channel::RC_Channel(unsigned int, prog_char_t const*)::__c
|
||||
00000005 r GCS_MAVLINK::GCS_MAVLINK(unsigned int)::__c
|
||||
00000005 r GCS_MAVLINK::GCS_MAVLINK(unsigned int)::__c
|
||||
00000005 V APM_PI::APM_PI(unsigned int, prog_char_t const*, float const&, float const&, int const&)::__c
|
||||
00000006 r __menu_name__setup_menu
|
||||
00000006 r report_gps()::__c
|
||||
00000006 r zero_eeprom()::__c
|
||||
00000006 r Log_Read_Mode()::__c
|
||||
00000006 r print_log_menu()::__c
|
||||
00000006 r print_log_menu()::__c
|
||||
00000006 r report_batt_monitor()::__c
|
||||
00000006 V Parameters::Parameters()::__c
|
||||
00000007 b setup_menu
|
||||
00000007 b planner_menu
|
||||
00000007 b log_menu
|
||||
00000007 b main_menu
|
||||
00000007 b test_menu
|
||||
00000007 r select_logs(unsigned char, Menu::arg const*)::__c
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0000014e t send_servo_out(mavlink_channel_t)
|
||||
00000152 t init_home()
|
||||
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|
||||
0000015c t update_trig()
|
||||
0000015c t test_wp(unsigned char, Menu::arg const*)
|
||||
00000160 t send_location(mavlink_channel_t)
|
||||
00000164 t set_cmd_with_index(Location, int)
|
||||
00000166 t select_logs(unsigned char, Menu::arg const*)
|
||||
00000166 t send_vfr_hud(mavlink_channel_t)
|
||||
0000016c t read_radio()
|
||||
0000016e t send_attitude(mavlink_channel_t)
|
||||
00000174 t mavlink_send_message(mavlink_channel_t, ap_message, unsigned int)
|
||||
00000178 t mavlink_try_send_message(mavlink_channel_t, ap_message, unsigned int)
|
||||
00000180 t set_next_WP(Location*)
|
||||
00000188 t verify_nav_wp()
|
||||
00000190 T GCS_MAVLINK::data_stream_send(unsigned int, unsigned int)
|
||||
000001a8 t print_radio_values()
|
||||
000001b8 t send_nav_controller_output(mavlink_channel_t)
|
||||
000001c8 t setup_motors(unsigned char, Menu::arg const*)
|
||||
000001ce T GCS_MAVLINK::update()
|
||||
000001e4 t setup_flightmodes(unsigned char, Menu::arg const*)
|
||||
000001fc t set_mode(unsigned char)
|
||||
00000204 t test_imu(unsigned char, Menu::arg const*)
|
||||
00000228 t setup_radio(unsigned char, Menu::arg const*)
|
||||
00000246 t calc_loiter(int, int)
|
||||
0000026a t send_gps_raw(mavlink_channel_t)
|
||||
00000362 t tuning()
|
||||
0000036e t execute_nav_command()
|
||||
00000396 T update_roll_pitch_mode()
|
||||
000003a0 t read_battery()
|
||||
000003ae t print_log_menu()
|
||||
0000041c T update_yaw_mode()
|
||||
00000444 T update_throttle_mode()
|
||||
000005b0 t __static_initialization_and_destruction_0(int, int)
|
||||
000006aa t init_ardupilot()
|
||||
00000878 t update_nav_wp()
|
||||
00000906 b g
|
||||
0000090c W Parameters::Parameters()
|
||||
000017b8 T GCS_MAVLINK::handleMessage(__mavlink_message*)
|
||||
00001efc T loop
|
||||
163
Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560-2.build.log
Normal file
163
Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560-2.build.log
Normal file
@ -0,0 +1,163 @@
|
||||
%% ArduCopter.cpp
|
||||
%% ArduCopter.o
|
||||
In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:55:
|
||||
/usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
|
||||
/usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
|
||||
/root/apm/ardupilot-mega/ArduCopter/commands_process.pde: In function 'void update_commands()':
|
||||
/root/apm/ardupilot-mega/ArduCopter/commands_process.pde:57: warning: statement has no effect
|
||||
/root/apm/ardupilot-mega/ArduCopter/Attitude.pde: At global scope:
|
||||
/root/apm/ardupilot-mega/ArduCopter/Attitude.pde:132: warning: 'void reset_hold_I()' defined but not used
|
||||
autogenerated:33: warning: 'void init_z_damper()' declared 'static' but never defined
|
||||
autogenerated:118: warning: 'void Log_Write_Optflow()' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/events.pde:51: warning: 'void low_battery_event()' defined but not used
|
||||
autogenerated:183: warning: 'void heli_init_swash()' declared 'static' but never defined
|
||||
autogenerated:184: warning: 'void heli_move_servos_to_mid()' declared 'static' but never defined
|
||||
autogenerated:185: warning: 'void heli_move_swash(int, int, int, int)' declared 'static' but never defined
|
||||
autogenerated:190: warning: 'int heli_get_angle_boost(int)' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:95: warning: 'void calc_loiter2(int, int)' defined but not used
|
||||
autogenerated:239: warning: 'int32_t get_alt_distance(Location*, Location*)' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/sensors.pde:6: warning: 'void ReadSCP1000()' defined but not used
|
||||
autogenerated:250: warning: 'int32_t read_baro_filtered()' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/sensors.pde:95: warning: 'void read_airspeed()' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/sensors.pde:100: warning: 'void zero_airspeed()' defined but not used
|
||||
autogenerated:264: warning: 'void report_heli()' declared 'static' but never defined
|
||||
autogenerated:265: warning: 'void report_gyro()' declared 'static' but never defined
|
||||
autogenerated:272: warning: 'RC_Channel* heli_get_servo(int)' declared 'static' but never defined
|
||||
autogenerated:273: warning: 'int read_num_from_serial()' declared 'static' but never defined
|
||||
autogenerated:288: warning: 'void init_optflow()' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:265: warning: 'rc_override' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:266: warning: 'rc_override_active' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:267: warning: 'rc_override_fs_timer' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:282: warning: 'ch3_failsafe' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:488: warning: 'pmTest1' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1784: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/test.pde:33: warning: 'int8_t test_eedump(uint8_t, const Menu::arg*)' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/test.pde:34: warning: 'int8_t test_rawgps(uint8_t, const Menu::arg*)' declared 'static' but never defined
|
||||
%% libraries/APM_BMP085/APM_BMP085.o
|
||||
%% libraries/APM_BMP085/APM_BMP085_hil.o
|
||||
%% libraries/APM_PI/APM_PI.o
|
||||
%% libraries/APM_RC/APM_RC.o
|
||||
%% libraries/AP_ADC/AP_ADC_ADS7844.o
|
||||
%% libraries/AP_ADC/AP_ADC.o
|
||||
%% libraries/AP_ADC/AP_ADC_HIL.o
|
||||
%% libraries/AP_Common/AP_Common.o
|
||||
%% libraries/AP_Common/AP_Loop.o
|
||||
%% libraries/AP_Common/AP_MetaClass.o
|
||||
%% libraries/AP_Common/AP_Var.o
|
||||
%% libraries/AP_Common/AP_Var_menufuncs.o
|
||||
%% libraries/AP_Common/c++.o
|
||||
%% libraries/AP_Common/menu.o
|
||||
%% libraries/AP_Compass/AP_Compass_HIL.o
|
||||
%% libraries/AP_Compass/AP_Compass_HMC5843.o
|
||||
%% libraries/AP_Compass/Compass.o
|
||||
%% libraries/AP_DCM/AP_DCM.o
|
||||
%% libraries/AP_DCM/AP_DCM_HIL.o
|
||||
%% libraries/AP_GPS/AP_GPS_406.o
|
||||
%% libraries/AP_GPS/AP_GPS_Auto.o
|
||||
%% libraries/AP_GPS/AP_GPS_HIL.o
|
||||
%% libraries/AP_GPS/AP_GPS_IMU.o
|
||||
%% libraries/AP_GPS/AP_GPS_MTK16.o
|
||||
%% libraries/AP_GPS/AP_GPS_MTK.o
|
||||
%% libraries/AP_GPS/AP_GPS_NMEA.o
|
||||
%% libraries/AP_GPS/AP_GPS_SIRF.o
|
||||
%% libraries/AP_GPS/AP_GPS_UBLOX.o
|
||||
%% libraries/AP_GPS/GPS.o
|
||||
%% libraries/AP_IMU/AP_IMU_Oilpan.o
|
||||
%% libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.o
|
||||
In file included from /root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:28:
|
||||
/usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
|
||||
/usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
|
||||
%% libraries/AP_OpticalFlow/AP_OpticalFlow.o
|
||||
%% libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.o
|
||||
%% libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.o
|
||||
%% libraries/AP_RangeFinder/RangeFinder.o
|
||||
%% libraries/AP_Relay/AP_Relay.o
|
||||
%% libraries/DataFlash/DataFlash.o
|
||||
In file included from /root/apm/ardupilot-mega/libraries/DataFlash/DataFlash.cpp:36:
|
||||
/usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
|
||||
/usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
|
||||
%% libraries/FastSerial/BetterStream.o
|
||||
%% libraries/FastSerial/FastSerial.o
|
||||
%% libraries/FastSerial/vprintf.o
|
||||
%% libraries/GCS_MAVLink/GCS_MAVLink.o
|
||||
%% libraries/ModeFilter/ModeFilter.o
|
||||
%% libraries/RC_Channel/RC_Channel_aux.o
|
||||
%% libraries/RC_Channel/RC_Channel.o
|
||||
%% libraries/memcheck/memcheck.o
|
||||
%% libraries/FastSerial/ftoa_engine.o
|
||||
%% libraries/FastSerial/ultoa_invert.o
|
||||
%% libraries/SPI/SPI.o
|
||||
In file included from /usr/local/share/arduino/libraries/SPI/SPI.cpp:12:
|
||||
/usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
|
||||
/usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
|
||||
%% libraries/Wire/Wire.o
|
||||
%% libraries/Wire/utility/twi.o
|
||||
cc1: warning: command line option "-Wno-reorder" is valid for C++/ObjC++ but not for C
|
||||
%% arduino/HardwareSerial.o
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/HardwareSerial.cpp:28:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
%% arduino/main.o
|
||||
%% arduino/Print.o
|
||||
%% arduino/Tone.o
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/Tone.cpp:93: warning: only initialized variables can be placed into program memory area
|
||||
%% arduino/WMath.o
|
||||
%% arduino/WString.o
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:26:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:84: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:85: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:86: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:87: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:88: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:89: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:90: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:91: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:93: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:94: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:95: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:100: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:101: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:102: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:103: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:104: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:105: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:106: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:107: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:109: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:110: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:111: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:116: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:117: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:118: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:119: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:120: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:121: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:122: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:123: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:125: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:126: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:127: warning: initialization makes integer from pointer without a cast
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/WInterrupts.c:34:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_analog.c:27:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring.c:25:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_digital.c:27:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_pulse.c:25:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_shift.c:25:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
%% arduino/core.a
|
||||
%% ArduCopter.elf
|
||||
%% ArduCopter.eep
|
||||
%% ArduCopter.hex
|
||||
623
Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560-2.size.txt
Normal file
623
Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560-2.size.txt
Normal file
@ -0,0 +1,623 @@
|
||||
00000001 b wp_control
|
||||
00000001 b GPS_enabled
|
||||
00000001 b home_is_set
|
||||
00000001 b motor_armed
|
||||
00000001 b motor_light
|
||||
00000001 b CH7_wp_index
|
||||
00000001 b control_mode
|
||||
00000001 b gps_watchdog
|
||||
00000001 b simple_timer
|
||||
00000001 d yaw_tracking
|
||||
00000001 b land_complete
|
||||
00000001 b throttle_mode
|
||||
00000001 b mavlink_active
|
||||
00000001 b prev_nav_index
|
||||
00000001 b wp_verify_byte
|
||||
00000001 d altitude_sensor
|
||||
00000001 b command_yaw_dir
|
||||
00000001 b failsafeCounter
|
||||
00000001 b new_radio_frame
|
||||
00000001 b roll_pitch_mode
|
||||
00000001 b counter_one_herz
|
||||
00000001 b did_ground_start
|
||||
00000001 b in_mavlink_delay
|
||||
00000001 b invalid_throttle
|
||||
00000001 b motor_auto_armed
|
||||
00000001 b old_control_mode
|
||||
00000001 b slow_loopCounter
|
||||
00000001 b takeoff_complete
|
||||
00000001 b command_nav_index
|
||||
00000001 b oldSwitchPosition
|
||||
00000001 b command_cond_index
|
||||
00000001 d ground_start_count
|
||||
00000001 b medium_loopCounter
|
||||
00000001 b command_yaw_relative
|
||||
00000001 d jump
|
||||
00000001 b nav_ok
|
||||
00000001 b event_id
|
||||
00000001 b failsafe
|
||||
00000001 b led_mode
|
||||
00000001 b yaw_mode
|
||||
00000001 b GPS_light
|
||||
00000001 b do_simple
|
||||
00000001 b trim_flag
|
||||
00000001 b dancing_light()::step
|
||||
00000001 b read_control_switch()::switch_debouncer
|
||||
00000001 d GCS_MAVLINK::handleMessage(__mavlink_message*)::mav_nav
|
||||
00000001 B relay
|
||||
00000002 T userhook_50Hz()
|
||||
00000002 T userhook_init()
|
||||
00000002 b climb_rate
|
||||
00000002 b loiter_sum
|
||||
00000002 b sonar_rate
|
||||
00000002 b angle_boost
|
||||
00000002 b event_delay
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Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560-2.build.log
Normal file
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Normal file
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||||
%% ArduCopter.cpp
|
||||
%% ArduCopter.o
|
||||
In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:55:
|
||||
/usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
|
||||
/usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
|
||||
/root/apm/ardupilot-mega/ArduCopter/commands_process.pde: In function 'void update_commands()':
|
||||
/root/apm/ardupilot-mega/ArduCopter/commands_process.pde:57: warning: statement has no effect
|
||||
/root/apm/ardupilot-mega/ArduCopter/Attitude.pde: At global scope:
|
||||
/root/apm/ardupilot-mega/ArduCopter/Attitude.pde:132: warning: 'void reset_hold_I()' defined but not used
|
||||
autogenerated:33: warning: 'void init_z_damper()' declared 'static' but never defined
|
||||
autogenerated:118: warning: 'void Log_Write_Optflow()' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/events.pde:51: warning: 'void low_battery_event()' defined but not used
|
||||
autogenerated:183: warning: 'void heli_init_swash()' declared 'static' but never defined
|
||||
autogenerated:184: warning: 'void heli_move_servos_to_mid()' declared 'static' but never defined
|
||||
autogenerated:185: warning: 'void heli_move_swash(int, int, int, int)' declared 'static' but never defined
|
||||
autogenerated:190: warning: 'int heli_get_angle_boost(int)' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:95: warning: 'void calc_loiter2(int, int)' defined but not used
|
||||
autogenerated:239: warning: 'int32_t get_alt_distance(Location*, Location*)' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/sensors.pde:6: warning: 'void ReadSCP1000()' defined but not used
|
||||
autogenerated:250: warning: 'int32_t read_baro_filtered()' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/sensors.pde:95: warning: 'void read_airspeed()' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/sensors.pde:100: warning: 'void zero_airspeed()' defined but not used
|
||||
autogenerated:264: warning: 'void report_heli()' declared 'static' but never defined
|
||||
autogenerated:265: warning: 'void report_gyro()' declared 'static' but never defined
|
||||
autogenerated:272: warning: 'RC_Channel* heli_get_servo(int)' declared 'static' but never defined
|
||||
autogenerated:273: warning: 'int read_num_from_serial()' declared 'static' but never defined
|
||||
autogenerated:288: warning: 'void init_optflow()' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:265: warning: 'rc_override' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:266: warning: 'rc_override_active' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:267: warning: 'rc_override_fs_timer' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:282: warning: 'ch3_failsafe' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:488: warning: 'pmTest1' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1784: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/test.pde:33: warning: 'int8_t test_eedump(uint8_t, const Menu::arg*)' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/test.pde:34: warning: 'int8_t test_rawgps(uint8_t, const Menu::arg*)' declared 'static' but never defined
|
||||
%% libraries/APM_BMP085/APM_BMP085.o
|
||||
%% libraries/APM_BMP085/APM_BMP085_hil.o
|
||||
%% libraries/APM_PI/APM_PI.o
|
||||
%% libraries/APM_RC/APM_RC.o
|
||||
%% libraries/AP_ADC/AP_ADC_ADS7844.o
|
||||
%% libraries/AP_ADC/AP_ADC.o
|
||||
%% libraries/AP_ADC/AP_ADC_HIL.o
|
||||
%% libraries/AP_Common/AP_Common.o
|
||||
%% libraries/AP_Common/AP_Loop.o
|
||||
%% libraries/AP_Common/AP_MetaClass.o
|
||||
%% libraries/AP_Common/AP_Var.o
|
||||
%% libraries/AP_Common/AP_Var_menufuncs.o
|
||||
%% libraries/AP_Common/c++.o
|
||||
%% libraries/AP_Common/menu.o
|
||||
%% libraries/AP_Compass/AP_Compass_HIL.o
|
||||
%% libraries/AP_Compass/AP_Compass_HMC5843.o
|
||||
%% libraries/AP_Compass/Compass.o
|
||||
%% libraries/AP_DCM/AP_DCM.o
|
||||
%% libraries/AP_DCM/AP_DCM_HIL.o
|
||||
%% libraries/AP_GPS/AP_GPS_406.o
|
||||
%% libraries/AP_GPS/AP_GPS_Auto.o
|
||||
%% libraries/AP_GPS/AP_GPS_HIL.o
|
||||
%% libraries/AP_GPS/AP_GPS_IMU.o
|
||||
%% libraries/AP_GPS/AP_GPS_MTK16.o
|
||||
%% libraries/AP_GPS/AP_GPS_MTK.o
|
||||
%% libraries/AP_GPS/AP_GPS_NMEA.o
|
||||
%% libraries/AP_GPS/AP_GPS_SIRF.o
|
||||
%% libraries/AP_GPS/AP_GPS_UBLOX.o
|
||||
%% libraries/AP_GPS/GPS.o
|
||||
%% libraries/AP_IMU/AP_IMU_Oilpan.o
|
||||
%% libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.o
|
||||
In file included from /root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:28:
|
||||
/usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
|
||||
/usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
|
||||
%% libraries/AP_OpticalFlow/AP_OpticalFlow.o
|
||||
%% libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.o
|
||||
%% libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.o
|
||||
%% libraries/AP_RangeFinder/RangeFinder.o
|
||||
%% libraries/AP_Relay/AP_Relay.o
|
||||
%% libraries/DataFlash/DataFlash.o
|
||||
In file included from /root/apm/ardupilot-mega/libraries/DataFlash/DataFlash.cpp:36:
|
||||
/usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
|
||||
/usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
|
||||
%% libraries/FastSerial/BetterStream.o
|
||||
%% libraries/FastSerial/FastSerial.o
|
||||
%% libraries/FastSerial/vprintf.o
|
||||
%% libraries/GCS_MAVLink/GCS_MAVLink.o
|
||||
%% libraries/ModeFilter/ModeFilter.o
|
||||
%% libraries/RC_Channel/RC_Channel_aux.o
|
||||
%% libraries/RC_Channel/RC_Channel.o
|
||||
%% libraries/memcheck/memcheck.o
|
||||
%% libraries/FastSerial/ftoa_engine.o
|
||||
%% libraries/FastSerial/ultoa_invert.o
|
||||
%% libraries/SPI/SPI.o
|
||||
In file included from /usr/local/share/arduino/libraries/SPI/SPI.cpp:12:
|
||||
/usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
|
||||
/usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
|
||||
%% libraries/Wire/Wire.o
|
||||
%% libraries/Wire/utility/twi.o
|
||||
cc1: warning: command line option "-Wno-reorder" is valid for C++/ObjC++ but not for C
|
||||
%% arduino/HardwareSerial.o
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/HardwareSerial.cpp:28:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
%% arduino/main.o
|
||||
%% arduino/Print.o
|
||||
%% arduino/Tone.o
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/Tone.cpp:93: warning: only initialized variables can be placed into program memory area
|
||||
%% arduino/WMath.o
|
||||
%% arduino/WString.o
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:26:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:84: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:85: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:86: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:87: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:88: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:89: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:90: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:91: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:93: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:94: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:95: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:100: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:101: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:102: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:103: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:104: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:105: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:106: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:107: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:109: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:110: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:111: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:116: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:117: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:118: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:119: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:120: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:121: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:122: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:123: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:125: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:126: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:127: warning: initialization makes integer from pointer without a cast
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/WInterrupts.c:34:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_analog.c:27:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring.c:25:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_digital.c:27:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_pulse.c:25:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_shift.c:25:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
%% arduino/core.a
|
||||
%% ArduCopter.elf
|
||||
%% ArduCopter.eep
|
||||
%% ArduCopter.hex
|
||||
623
Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560-2.size.txt
Normal file
623
Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560-2.size.txt
Normal file
@ -0,0 +1,623 @@
|
||||
00000001 b wp_control
|
||||
00000001 b GPS_enabled
|
||||
00000001 b home_is_set
|
||||
00000001 b motor_armed
|
||||
00000001 b motor_light
|
||||
00000001 b CH7_wp_index
|
||||
00000001 b control_mode
|
||||
00000001 b gps_watchdog
|
||||
00000001 b simple_timer
|
||||
00000001 d yaw_tracking
|
||||
00000001 b land_complete
|
||||
00000001 b throttle_mode
|
||||
00000001 b mavlink_active
|
||||
00000001 b prev_nav_index
|
||||
00000001 b wp_verify_byte
|
||||
00000001 d altitude_sensor
|
||||
00000001 b command_yaw_dir
|
||||
00000001 b failsafeCounter
|
||||
00000001 b new_radio_frame
|
||||
00000001 b roll_pitch_mode
|
||||
00000001 b counter_one_herz
|
||||
00000001 b did_ground_start
|
||||
00000001 b in_mavlink_delay
|
||||
00000001 b invalid_throttle
|
||||
00000001 b motor_auto_armed
|
||||
00000001 b old_control_mode
|
||||
00000001 b slow_loopCounter
|
||||
00000001 b takeoff_complete
|
||||
00000001 b command_nav_index
|
||||
00000001 b oldSwitchPosition
|
||||
00000001 b command_cond_index
|
||||
00000001 d ground_start_count
|
||||
00000001 b medium_loopCounter
|
||||
00000001 b command_yaw_relative
|
||||
00000001 d jump
|
||||
00000001 b nav_ok
|
||||
00000001 b event_id
|
||||
00000001 b failsafe
|
||||
00000001 b led_mode
|
||||
00000001 b yaw_mode
|
||||
00000001 b GPS_light
|
||||
00000001 b do_simple
|
||||
00000001 b trim_flag
|
||||
00000001 b dancing_light()::step
|
||||
00000001 b read_control_switch()::switch_debouncer
|
||||
00000001 d GCS_MAVLINK::handleMessage(__mavlink_message*)::mav_nav
|
||||
00000001 B relay
|
||||
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|
||||
00000002 T userhook_init()
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
00000002 b old_sonar_alt
|
||||
00000002 b velocity_land
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
00000002 r comma
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
00000004 b simple_sin_y
|
||||
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|
||||
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|
||||
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|
||||
00000004 b altitude_error
|
||||
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|
||||
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|
||||
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|
||||
00000004 d battery_voltage
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
00000004 d battery_voltage1
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
00000004 r __menu_name__log_menu
|
||||
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|
||||
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|
||||
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|
||||
00000004 d G_Dt
|
||||
00000004 b dTnav
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
00000004 b auto_yaw
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560-2.build.log
Normal file
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%% ArduCopter.cpp
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%% ArduCopter.o
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||||
In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:55:
|
||||
/usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
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||||
/root/apm/ardupilot-mega/ArduCopter/commands_process.pde: In function 'void update_commands()':
|
||||
/root/apm/ardupilot-mega/ArduCopter/commands_process.pde:57: warning: statement has no effect
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||||
/root/apm/ardupilot-mega/ArduCopter/Attitude.pde: At global scope:
|
||||
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||||
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|
||||
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|
||||
/root/apm/ardupilot-mega/ArduCopter/events.pde:51: warning: 'void low_battery_event()' defined but not used
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|
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|
||||
autogenerated:185: warning: 'void heli_move_swash(int, int, int, int)' declared 'static' but never defined
|
||||
autogenerated:190: warning: 'int heli_get_angle_boost(int)' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/navigation.pde:95: warning: 'void calc_loiter2(int, int)' defined but not used
|
||||
autogenerated:239: warning: 'int32_t get_alt_distance(Location*, Location*)' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/sensors.pde:6: warning: 'void ReadSCP1000()' defined but not used
|
||||
autogenerated:250: warning: 'int32_t read_baro_filtered()' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/sensors.pde:95: warning: 'void read_airspeed()' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/sensors.pde:100: warning: 'void zero_airspeed()' defined but not used
|
||||
autogenerated:264: warning: 'void report_heli()' declared 'static' but never defined
|
||||
autogenerated:265: warning: 'void report_gyro()' declared 'static' but never defined
|
||||
autogenerated:272: warning: 'RC_Channel* heli_get_servo(int)' declared 'static' but never defined
|
||||
autogenerated:273: warning: 'int read_num_from_serial()' declared 'static' but never defined
|
||||
autogenerated:288: warning: 'void init_optflow()' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:265: warning: 'rc_override' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:266: warning: 'rc_override_active' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:267: warning: 'rc_override_fs_timer' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:282: warning: 'ch3_failsafe' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:488: warning: 'pmTest1' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1784: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
|
||||
/root/apm/ardupilot-mega/ArduCopter/test.pde:33: warning: 'int8_t test_eedump(uint8_t, const Menu::arg*)' declared 'static' but never defined
|
||||
/root/apm/ardupilot-mega/ArduCopter/test.pde:34: warning: 'int8_t test_rawgps(uint8_t, const Menu::arg*)' declared 'static' but never defined
|
||||
%% libraries/APM_BMP085/APM_BMP085.o
|
||||
%% libraries/APM_BMP085/APM_BMP085_hil.o
|
||||
%% libraries/APM_PI/APM_PI.o
|
||||
%% libraries/APM_RC/APM_RC.o
|
||||
%% libraries/AP_ADC/AP_ADC_ADS7844.o
|
||||
%% libraries/AP_ADC/AP_ADC.o
|
||||
%% libraries/AP_ADC/AP_ADC_HIL.o
|
||||
%% libraries/AP_Common/AP_Common.o
|
||||
%% libraries/AP_Common/AP_Loop.o
|
||||
%% libraries/AP_Common/AP_MetaClass.o
|
||||
%% libraries/AP_Common/AP_Var.o
|
||||
%% libraries/AP_Common/AP_Var_menufuncs.o
|
||||
%% libraries/AP_Common/c++.o
|
||||
%% libraries/AP_Common/menu.o
|
||||
%% libraries/AP_Compass/AP_Compass_HIL.o
|
||||
%% libraries/AP_Compass/AP_Compass_HMC5843.o
|
||||
%% libraries/AP_Compass/Compass.o
|
||||
%% libraries/AP_DCM/AP_DCM.o
|
||||
%% libraries/AP_DCM/AP_DCM_HIL.o
|
||||
%% libraries/AP_GPS/AP_GPS_406.o
|
||||
%% libraries/AP_GPS/AP_GPS_Auto.o
|
||||
%% libraries/AP_GPS/AP_GPS_HIL.o
|
||||
%% libraries/AP_GPS/AP_GPS_IMU.o
|
||||
%% libraries/AP_GPS/AP_GPS_MTK16.o
|
||||
%% libraries/AP_GPS/AP_GPS_MTK.o
|
||||
%% libraries/AP_GPS/AP_GPS_NMEA.o
|
||||
%% libraries/AP_GPS/AP_GPS_SIRF.o
|
||||
%% libraries/AP_GPS/AP_GPS_UBLOX.o
|
||||
%% libraries/AP_GPS/GPS.o
|
||||
%% libraries/AP_IMU/AP_IMU_Oilpan.o
|
||||
%% libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.o
|
||||
In file included from /root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp:28:
|
||||
/usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
|
||||
/usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
|
||||
%% libraries/AP_OpticalFlow/AP_OpticalFlow.o
|
||||
%% libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.o
|
||||
%% libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.o
|
||||
%% libraries/AP_RangeFinder/RangeFinder.o
|
||||
%% libraries/AP_Relay/AP_Relay.o
|
||||
%% libraries/DataFlash/DataFlash.o
|
||||
In file included from /root/apm/ardupilot-mega/libraries/DataFlash/DataFlash.cpp:36:
|
||||
/usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
|
||||
/usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
|
||||
%% libraries/FastSerial/BetterStream.o
|
||||
%% libraries/FastSerial/FastSerial.o
|
||||
%% libraries/FastSerial/vprintf.o
|
||||
%% libraries/GCS_MAVLink/GCS_MAVLink.o
|
||||
%% libraries/ModeFilter/ModeFilter.o
|
||||
%% libraries/RC_Channel/RC_Channel_aux.o
|
||||
%% libraries/RC_Channel/RC_Channel.o
|
||||
%% libraries/memcheck/memcheck.o
|
||||
%% libraries/FastSerial/ftoa_engine.o
|
||||
%% libraries/FastSerial/ultoa_invert.o
|
||||
%% libraries/SPI/SPI.o
|
||||
In file included from /usr/local/share/arduino/libraries/SPI/SPI.cpp:12:
|
||||
/usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
|
||||
/usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
|
||||
%% libraries/Wire/Wire.o
|
||||
%% libraries/Wire/utility/twi.o
|
||||
cc1: warning: command line option "-Wno-reorder" is valid for C++/ObjC++ but not for C
|
||||
%% arduino/HardwareSerial.o
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/HardwareSerial.cpp:28:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
%% arduino/main.o
|
||||
%% arduino/Print.o
|
||||
%% arduino/Tone.o
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/Tone.cpp:93: warning: only initialized variables can be placed into program memory area
|
||||
%% arduino/WMath.o
|
||||
%% arduino/WString.o
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:26:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:84: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:85: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:86: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:87: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:88: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:89: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:90: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:91: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:93: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:94: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:95: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:100: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:101: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:102: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:103: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:104: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:105: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:106: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:107: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:109: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:110: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:111: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:116: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:117: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:118: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:119: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:120: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:121: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:122: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:123: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:125: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:126: warning: initialization makes integer from pointer without a cast
|
||||
/usr/local/share/arduino/hardware/arduino/cores/arduino/pins_arduino.c:127: warning: initialization makes integer from pointer without a cast
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/WInterrupts.c:34:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_analog.c:27:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring.c:25:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_digital.c:27:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_pulse.c:25:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
In file included from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_private.h:30,
|
||||
from /usr/local/share/arduino/hardware/arduino/cores/arduino/wiring_shift.c:25:
|
||||
/usr/lib/gcc/avr/4.3.5/../../../avr/include/avr/delay.h:36:2: warning: #warning "This file has been moved to <util/delay.h>."
|
||||
%% arduino/core.a
|
||||
%% ArduCopter.elf
|
||||
%% ArduCopter.eep
|
||||
%% ArduCopter.hex
|
||||
623
Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560-2.size.txt
Normal file
623
Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560-2.size.txt
Normal file
@ -0,0 +1,623 @@
|
||||
00000001 b wp_control
|
||||
00000001 b GPS_enabled
|
||||
00000001 b home_is_set
|
||||
00000001 b motor_armed
|
||||
00000001 b motor_light
|
||||
00000001 b CH7_wp_index
|
||||
00000001 b control_mode
|
||||
00000001 b gps_watchdog
|
||||
00000001 b simple_timer
|
||||
00000001 d yaw_tracking
|
||||
00000001 b land_complete
|
||||
00000001 b throttle_mode
|
||||
00000001 b mavlink_active
|
||||
00000001 b prev_nav_index
|
||||
00000001 b wp_verify_byte
|
||||
00000001 d altitude_sensor
|
||||
00000001 b command_yaw_dir
|
||||
00000001 b failsafeCounter
|
||||
00000001 b new_radio_frame
|
||||
00000001 b roll_pitch_mode
|
||||
00000001 b counter_one_herz
|
||||
00000001 b did_ground_start
|
||||
00000001 b in_mavlink_delay
|
||||
00000001 b invalid_throttle
|
||||
00000001 b motor_auto_armed
|
||||
00000001 b old_control_mode
|
||||
00000001 b slow_loopCounter
|
||||
00000001 b takeoff_complete
|
||||
00000001 b command_nav_index
|
||||
00000001 b oldSwitchPosition
|
||||
00000001 b command_cond_index
|
||||
00000001 d ground_start_count
|
||||
00000001 b medium_loopCounter
|
||||
00000001 b command_yaw_relative
|
||||
00000001 d jump
|
||||
00000001 b nav_ok
|
||||
00000001 b event_id
|
||||
00000001 b failsafe
|
||||
00000001 b led_mode
|
||||
00000001 b yaw_mode
|
||||
00000001 b GPS_light
|
||||
00000001 b do_simple
|
||||
00000001 b trim_flag
|
||||
00000001 b dancing_light()::step
|
||||
00000001 b read_control_switch()::switch_debouncer
|
||||
00000001 d GCS_MAVLINK::handleMessage(__mavlink_message*)::mav_nav
|
||||
00000001 B relay
|
||||
00000002 T userhook_50Hz()
|
||||
00000002 T userhook_init()
|
||||
00000002 b climb_rate
|
||||
00000002 b loiter_sum
|
||||
00000002 b sonar_rate
|
||||
00000002 b angle_boost
|
||||
00000002 b event_delay
|
||||
00000002 b event_value
|
||||
00000002 b event_repeat
|
||||
00000002 b loiter_total
|
||||
00000002 b manual_boost
|
||||
00000002 b nav_throttle
|
||||
00000002 b old_baro_alt
|
||||
00000002 b x_rate_error
|
||||
00000002 b y_rate_error
|
||||
00000002 b gps_fix_count
|
||||
00000002 b old_sonar_alt
|
||||
00000002 b velocity_land
|
||||
00000002 b x_actual_speed
|
||||
00000002 b y_actual_speed
|
||||
00000002 b loiter_time_max
|
||||
00000002 b command_yaw_time
|
||||
00000002 b crosstrack_error
|
||||
00000002 b event_undo_value
|
||||
00000002 b command_yaw_speed
|
||||
00000002 b auto_level_counter
|
||||
00000002 b ground_temperature
|
||||
00000002 b waypoint_speed_gov
|
||||
00000002 b superslow_loopCounter
|
||||
00000002 r comma
|
||||
00000002 b g_gps
|
||||
00000002 b airspeed
|
||||
00000002 b baro_alt
|
||||
00000002 b baro_rate
|
||||
00000002 b sonar_alt
|
||||
00000002 b arm_motors()::arming_counter
|
||||
00000002 r erase_logs(unsigned char, Menu::arg const*)::__c
|
||||
00000002 r setup_frame(unsigned char, Menu::arg const*)::__c
|
||||
00000002 r setup_frame(unsigned char, Menu::arg const*)::__c
|
||||
00000002 r setup_frame(unsigned char, Menu::arg const*)::__c
|
||||
00000002 r setup_frame(unsigned char, Menu::arg const*)::__c
|
||||
00000002 r test_wp(unsigned char, Menu::arg const*)::__c
|
||||
00000002 V APM_PI::APM_PI(unsigned int, prog_char_t const*, float const&, float const&, int const&)::__c
|
||||
00000002 V APM_PI::APM_PI(unsigned int, prog_char_t const*, float const&, float const&, int const&)::__c
|
||||
00000003 r select_logs(unsigned char, Menu::arg const*)::__c
|
||||
00000003 r setup_sonar(unsigned char, Menu::arg const*)::__c
|
||||
00000003 r print_enabled(unsigned char)::__c
|
||||
00000003 r setup_compass(unsigned char, Menu::arg const*)::__c
|
||||
00000003 r report_batt_monitor()::__c
|
||||
00000003 r report_batt_monitor()::__c
|
||||
00000003 V RC_Channel::RC_Channel(unsigned int, prog_char_t const*)::__c
|
||||
00000004 d cos_roll_x
|
||||
00000004 b land_start
|
||||
00000004 b long_error
|
||||
00000004 b sin_roll_y
|
||||
00000004 d cos_pitch_x
|
||||
00000004 b event_timer
|
||||
00000004 b loiter_time
|
||||
00000004 d scaleLongUp
|
||||
00000004 b sin_pitch_y
|
||||
00000004 b wp_distance
|
||||
00000004 b abs_pressure
|
||||
00000004 b circle_angle
|
||||
00000004 b current_amps
|
||||
00000004 b original_alt
|
||||
00000004 b simple_cos_x
|
||||
00000004 b simple_sin_y
|
||||
00000004 b current_total
|
||||
00000004 b nav_loopTimer
|
||||
00000004 d scaleLongDown
|
||||
00000004 b altitude_error
|
||||
00000004 b fast_loopTimer
|
||||
00000004 b perf_mon_timer
|
||||
00000004 b target_bearing
|
||||
00000004 d battery_voltage
|
||||
00000004 b command_yaw_end
|
||||
00000004 b condition_start
|
||||
00000004 b condition_value
|
||||
00000004 b ground_pressure
|
||||
00000004 b target_altitude
|
||||
00000004 d battery_voltage1
|
||||
00000004 d battery_voltage2
|
||||
00000004 d battery_voltage3
|
||||
00000004 d battery_voltage4
|
||||
00000004 b wp_totalDistance
|
||||
00000004 b command_yaw_delta
|
||||
00000004 b command_yaw_start
|
||||
00000004 b fiftyhz_loopTimer
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
@ -1,17 +1,17 @@
|
||||
<?xml version="1.0" encoding="utf-8" ?>
|
||||
<options>
|
||||
<Firmware>
|
||||
<url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-1280.hex</url>
|
||||
<url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-2560.hex</url2560>
|
||||
<url2560-2>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-2560-2.hex</url2560-2>
|
||||
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-1280.hex</url>
|
||||
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-2560.hex</url2560>
|
||||
<url2560-2>http://meee146.planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-2560-2.hex</url2560-2>
|
||||
<name>ArduPlane V2.26 </name>
|
||||
<desc></desc>
|
||||
<format_version>12</format_version>
|
||||
</Firmware>
|
||||
<Firmware>
|
||||
<url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/APHIL-1280.hex</url>
|
||||
<url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/APHIL-2560.hex</url2560>
|
||||
<url2560-2>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/APHIL-2560-2.hex</url2560-2>
|
||||
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/APHIL-1280.hex</url>
|
||||
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/APHIL-2560.hex</url2560>
|
||||
<url2560-2>http://meee146.planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/APHIL-2560-2.hex</url2560-2>
|
||||
<name>ArduPlane V2.26 HIL</name>
|
||||
<desc>
|
||||
#define FLIGHT_MODE_CHANNEL 8
|
||||
@ -44,18 +44,18 @@
|
||||
<format_version>12</format_version>
|
||||
</Firmware>
|
||||
<Firmware>
|
||||
<url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-trunk-1280.hex</url>
|
||||
<url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-trunk-2560.hex</url2560>
|
||||
<url2560-2>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-trunk-2560-2.hex</url2560-2>
|
||||
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-trunk-1280.hex</url>
|
||||
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-trunk-2560.hex</url2560>
|
||||
<url2560-2>http://meee146.planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-trunk-2560-2.hex</url2560-2>
|
||||
<name>ArduPlane V2.26 APM trunk</name>
|
||||
<desc></desc>
|
||||
<format_version>12</format_version>
|
||||
</Firmware>
|
||||
<Firmware>
|
||||
<url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.hex</url>
|
||||
<url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560.hex</url2560>
|
||||
<url2560-2>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560-2.hex</url2560-2>
|
||||
<name>ArduCopter V2.0.50 Beta Quad</name>
|
||||
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.hex</url>
|
||||
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560.hex</url2560>
|
||||
<url2560-2>http://meee146.planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560-2.hex</url2560-2>
|
||||
<name>ArduCopter V2.0.54 Quad</name>
|
||||
<desc>
|
||||
#define FRAME_CONFIG QUAD_FRAME
|
||||
#define FRAME_ORIENTATION X_FRAME
|
||||
@ -64,10 +64,10 @@
|
||||
<format_version>113</format_version>
|
||||
</Firmware>
|
||||
<Firmware>
|
||||
<url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-1280.hex</url>
|
||||
<url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560.hex</url2560>
|
||||
<url2560-2>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560-2.hex</url2560-2>
|
||||
<name>ArduCopter V2.0.50 Beta Tri</name>
|
||||
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-1280.hex</url>
|
||||
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560.hex</url2560>
|
||||
<url2560-2>http://meee146.planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560-2.hex</url2560-2>
|
||||
<name>ArduCopter V2.0.54 Tri</name>
|
||||
<desc>
|
||||
#define FRAME_CONFIG TRI_FRAME
|
||||
#define FRAME_ORIENTATION X_FRAME
|
||||
@ -76,10 +76,10 @@
|
||||
<format_version>113</format_version>
|
||||
</Firmware>
|
||||
<Firmware>
|
||||
<url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.hex</url>
|
||||
<url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.hex</url2560>
|
||||
<url2560-2>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560-2.hex</url2560-2>
|
||||
<name>ArduCopter V2.0.50 Beta Hexa</name>
|
||||
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.hex</url>
|
||||
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.hex</url2560>
|
||||
<url2560-2>http://meee146.planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560-2.hex</url2560-2>
|
||||
<name>ArduCopter V2.0.54 Hexa</name>
|
||||
<desc>
|
||||
#define FRAME_CONFIG HEXA_FRAME
|
||||
#define FRAME_ORIENTATION X_FRAME
|
||||
@ -88,10 +88,10 @@
|
||||
<format_version>113</format_version>
|
||||
</Firmware>
|
||||
<Firmware>
|
||||
<url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.hex</url>
|
||||
<url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.hex</url2560>
|
||||
<url2560-2>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560-2.hex</url2560-2>
|
||||
<name>ArduCopter V2.0.50 Beta Y6</name>
|
||||
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.hex</url>
|
||||
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.hex</url2560>
|
||||
<url2560-2>http://meee146.planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560-2.hex</url2560-2>
|
||||
<name>ArduCopter V2.0.54 Y6</name>
|
||||
<desc>
|
||||
#define FRAME_CONFIG Y6_FRAME
|
||||
#define FRAME_ORIENTATION X_FRAME
|
||||
@ -100,10 +100,10 @@
|
||||
<format_version>113</format_version>
|
||||
</Firmware>
|
||||
<Firmware>
|
||||
<url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-1280.hex</url>
|
||||
<url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560.hex</url2560>
|
||||
<url2560-2>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560-2.hex</url2560-2>
|
||||
<name>ArduCopter V2.0.50 Beta Heli (2560 only)</name>
|
||||
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-1280.hex</url>
|
||||
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560.hex</url2560>
|
||||
<url2560-2>http://meee146.planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560-2.hex</url2560-2>
|
||||
<name>ArduCopter V2.0.54 Heli (2560 only)</name>
|
||||
<desc>
|
||||
#define AUTO_RESET_LOITER 0
|
||||
#define FRAME_CONFIG HELI_FRAME
|
||||
@ -145,13 +145,13 @@
|
||||
#define NAV_LOITER_IMAX 10
|
||||
|
||||
</desc>
|
||||
<format_version>112</format_version>
|
||||
<format_version>113</format_version>
|
||||
</Firmware>
|
||||
<Firmware>
|
||||
<url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.hex</url>
|
||||
<url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.hex</url2560>
|
||||
<url2560-2>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560-2.hex</url2560-2>
|
||||
<name>ArduCopter V2.0.50 Beta Quad Hil</name>
|
||||
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.hex</url>
|
||||
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.hex</url2560>
|
||||
<url2560-2>http://meee146.planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560-2.hex</url2560-2>
|
||||
<name>ArduCopter V2.0.54 Quad Hil</name>
|
||||
<desc>
|
||||
#define FRAME_CONFIG QUAD_FRAME
|
||||
#define FRAME_ORIENTATION PLUS_FRAME
|
||||
@ -164,10 +164,10 @@
|
||||
<format_version>113</format_version>
|
||||
</Firmware>
|
||||
<Firmware>
|
||||
<url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.hex</url>
|
||||
<url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-2560.hex</url2560>
|
||||
<url2560-2>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-2560-2.hex</url2560-2>
|
||||
<name>ArduCopter V2.0.50 Beta Heli Hil</name>
|
||||
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.hex</url>
|
||||
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-2560.hex</url2560>
|
||||
<url2560-2>http://meee146.planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-2560-2.hex</url2560-2>
|
||||
<name>ArduCopter V2.0.54 Heli Hil</name>
|
||||
<desc>
|
||||
|
||||
#define HIL_MODE HIL_MODE_ATTITUDE
|
||||
@ -213,6 +213,6 @@
|
||||
|
||||
|
||||
</desc>
|
||||
<format_version>112</format_version>
|
||||
<format_version>113</format_version>
|
||||
</Firmware>
|
||||
</options>
|
||||
|
||||
@ -16,9 +16,9 @@
|
||||
<F1>Roll</F1>
|
||||
<F2>Pitch</F2>
|
||||
<F3>Yaw</F3>
|
||||
<F4>rc1 servo</F4>
|
||||
<F5>rc2 servo</F5>
|
||||
<F6>rc3 servo</F6>
|
||||
<F4>CH1 out</F4>
|
||||
<F5>CH2 out</F5>
|
||||
<F6>CH4 out</F6>
|
||||
</ATT>
|
||||
<NTUN>
|
||||
<F1>WP Dist</F1>
|
||||
@ -33,28 +33,28 @@
|
||||
<F10>Loiter Lat I</F10>
|
||||
</NTUN>
|
||||
<CTUN>
|
||||
<F1>Yaw Sensor</F1>
|
||||
<F2>Nav Yaw</F2>
|
||||
<F3>Yaw Error</F3>
|
||||
<F4>Sonar Alt</F4>
|
||||
<F5>Baro Alt</F5>
|
||||
<F6>Next WP Alt</F6>
|
||||
<F7>Nav Throttle</F7>
|
||||
<F8>Angle boost</F8>
|
||||
<F9>Manual boost</F9>
|
||||
<F10>climb rate</F10>
|
||||
<F11></F11>
|
||||
<F10>rc3 servo out</F10>
|
||||
<F11>alt hold int</F11>
|
||||
<F12>thro int</F12>
|
||||
<F1>Roll IN</F1>
|
||||
<F2>Pitch IN</F2>
|
||||
<F3>Thr IN</F3>
|
||||
<F4>Yaw IN</F4>
|
||||
<F5>Sonar Alt</F5>
|
||||
<F6>Baro Alt</F6>
|
||||
<F7>Next WP Alt</F7>
|
||||
<F8>Nav Throttle</F8>
|
||||
<F9>Angle boost</F9>
|
||||
<F10>Manual boost</F10>
|
||||
<F11>Climb Rate</F11>
|
||||
<F12>rc3 servo out</F12>
|
||||
<F13>alt hold int</F13>
|
||||
<F14>Thr int</F14>
|
||||
</CTUN>
|
||||
<PM>
|
||||
<F1>time</F1>
|
||||
<F2>gyro sat</F2>
|
||||
<F3>adc const</F3>
|
||||
<F4>renorm sqrt</F4>
|
||||
<F5>renorm blowup</F5>
|
||||
<F6>fix count</F6>
|
||||
<F1>Perf Timer</F1>
|
||||
<F2>Gyro Saturation</F2>
|
||||
<F3>ADC Constraints</F3>
|
||||
<F4>DCM renorms</F4>
|
||||
<F5>DCM Blowups</F5>
|
||||
<F6>GPS Fix Count</F6>
|
||||
</PM>
|
||||
<RAW>
|
||||
<F1>Gyro X</F1>
|
||||
@ -71,6 +71,17 @@
|
||||
<F4>Current</F4>
|
||||
<F5>Current total</F5>
|
||||
</CURR>
|
||||
<CMD>
|
||||
<F1>Cmmd Total</F1>
|
||||
<F2>Current #</F2>
|
||||
<F3>ID</F3>
|
||||
<F4>options</F4>
|
||||
<F5></F5>
|
||||
</CMD>
|
||||
<MOD>
|
||||
<F1>FlightMode</F1>
|
||||
<F2>Thr Cruise</F2>
|
||||
</MOD>
|
||||
</AC2>
|
||||
<!-- -->
|
||||
<APM>
|
||||
|
||||
@ -16,9 +16,9 @@
|
||||
<F1>Roll</F1>
|
||||
<F2>Pitch</F2>
|
||||
<F3>Yaw</F3>
|
||||
<F4>rc1 servo</F4>
|
||||
<F5>rc2 servo</F5>
|
||||
<F6>rc3 servo</F6>
|
||||
<F4>CH1 out</F4>
|
||||
<F5>CH2 out</F5>
|
||||
<F6>CH4 out</F6>
|
||||
</ATT>
|
||||
<NTUN>
|
||||
<F1>WP Dist</F1>
|
||||
@ -33,28 +33,28 @@
|
||||
<F10>Loiter Lat I</F10>
|
||||
</NTUN>
|
||||
<CTUN>
|
||||
<F1>Yaw Sensor</F1>
|
||||
<F2>Nav Yaw</F2>
|
||||
<F3>Yaw Error</F3>
|
||||
<F4>Sonar Alt</F4>
|
||||
<F5>Baro Alt</F5>
|
||||
<F6>Next WP Alt</F6>
|
||||
<F7>Nav Throttle</F7>
|
||||
<F8>Angle boost</F8>
|
||||
<F9>Manual boost</F9>
|
||||
<F10>climb rate</F10>
|
||||
<F11></F11>
|
||||
<F10>rc3 servo out</F10>
|
||||
<F11>alt hold int</F11>
|
||||
<F12>thro int</F12>
|
||||
<F1>Roll IN</F1>
|
||||
<F2>Pitch IN</F2>
|
||||
<F3>Thr IN</F3>
|
||||
<F4>Yaw IN</F4>
|
||||
<F5>Sonar Alt</F5>
|
||||
<F6>Baro Alt</F6>
|
||||
<F7>Next WP Alt</F7>
|
||||
<F8>Nav Throttle</F8>
|
||||
<F9>Angle boost</F9>
|
||||
<F10>Manual boost</F10>
|
||||
<F11>Climb Rate</F11>
|
||||
<F12>rc3 servo out</F12>
|
||||
<F13>alt hold int</F13>
|
||||
<F14>Thr int</F14>
|
||||
</CTUN>
|
||||
<PM>
|
||||
<F1>time</F1>
|
||||
<F2>gyro sat</F2>
|
||||
<F3>adc const</F3>
|
||||
<F4>renorm sqrt</F4>
|
||||
<F5>renorm blowup</F5>
|
||||
<F6>fix count</F6>
|
||||
<F1>Perf Timer</F1>
|
||||
<F2>Gyro Saturation</F2>
|
||||
<F3>ADC Constraints</F3>
|
||||
<F4>DCM renorms</F4>
|
||||
<F5>DCM Blowups</F5>
|
||||
<F6>GPS Fix Count</F6>
|
||||
</PM>
|
||||
<RAW>
|
||||
<F1>Gyro X</F1>
|
||||
@ -71,6 +71,17 @@
|
||||
<F4>Current</F4>
|
||||
<F5>Current total</F5>
|
||||
</CURR>
|
||||
<CMD>
|
||||
<F1>Cmmd Total</F1>
|
||||
<F2>Current #</F2>
|
||||
<F3>ID</F3>
|
||||
<F4>options</F4>
|
||||
<F5></F5>
|
||||
</CMD>
|
||||
<MOD>
|
||||
<F1>FlightMode</F1>
|
||||
<F2>Thr Cruise</F2>
|
||||
</MOD>
|
||||
</AC2>
|
||||
<!-- -->
|
||||
<APM>
|
||||
|
||||
@ -1,5 +1,14 @@
|
||||
LOG_BITMASK 4095
|
||||
SWITCH_ENABLE 0
|
||||
MAG_ENABLE 0
|
||||
TRIM_ARSPD_CM 2200
|
||||
ARSPD_ENABLE 1
|
||||
ARSP2PTCH_I 0.1
|
||||
ARSPD_FBW_MAX 30
|
||||
ARSPD_FBW_MIN 10
|
||||
KFF_RDDRMIX 0
|
||||
KFF_PTCHCOMP 0.2
|
||||
THR_MAX 100
|
||||
RC2_REV -1
|
||||
RC1_MAX 2000
|
||||
RC1_MIN 1000
|
||||
@ -33,6 +42,5 @@ FLTMODE5 2
|
||||
FLTMODE6 0
|
||||
FLTMODE_CH 8
|
||||
PTCH2SRV_P 2
|
||||
RLL2SRV_I 0.1
|
||||
RLL2SRV_I 0
|
||||
RLL2SRV_P 1.2
|
||||
INVERTEDFLT_CH 7
|
||||
|
||||
92
Tools/autotest/aircraft/Rascal/Dialogs/config.xml
Normal file
92
Tools/autotest/aircraft/Rascal/Dialogs/config.xml
Normal file
@ -0,0 +1,92 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<PropertyList>
|
||||
<name>rascal-config</name>
|
||||
<layout>vbox</layout>
|
||||
<x>40</x>
|
||||
<y>40</y>
|
||||
|
||||
<group>
|
||||
<layout>hbox</layout>
|
||||
|
||||
<empty><stretch>true</stretch></empty>
|
||||
|
||||
<text>
|
||||
<label>Rascal Configuration</label>
|
||||
</text>
|
||||
|
||||
<empty><stretch>true</stretch></empty>
|
||||
|
||||
<button>
|
||||
<pref-width>16</pref-width>
|
||||
<pref-height>16</pref-height>
|
||||
<legend></legend>
|
||||
<default>1</default>
|
||||
<keynum>27</keynum>
|
||||
<border>2</border>
|
||||
|
||||
<binding>
|
||||
<command>nasal</command>
|
||||
<script>rascal.dialog.close()</script>
|
||||
</binding>
|
||||
</button>
|
||||
</group>
|
||||
|
||||
<hrule/>
|
||||
|
||||
<group>
|
||||
<layout>table</layout>
|
||||
|
||||
<!-- row zero -->
|
||||
<checkbox>
|
||||
<row>0</row> <col>0</col>
|
||||
<halign>left</halign>
|
||||
<label>External Autopilot Enable</label>
|
||||
<property>/ugear/settings/ap-enable</property>
|
||||
<live>true</live>
|
||||
<binding>
|
||||
<command>dialog-apply</command>
|
||||
</binding>
|
||||
</checkbox>
|
||||
|
||||
<!-- row one -->
|
||||
<checkbox>
|
||||
<row>1</row> <col>0</col>
|
||||
<halign>left</halign>
|
||||
<label>External Turret Control Enable</label>
|
||||
<property>/ugear/settings/turret-enable</property>
|
||||
<live>true</live>
|
||||
<binding>
|
||||
<command>dialog-apply</command>
|
||||
</binding>
|
||||
</checkbox>
|
||||
|
||||
<!-- row two -->
|
||||
<checkbox>
|
||||
<row>2</row> <col>0</col>
|
||||
<halign>left</halign>
|
||||
<label>Smoke</label>
|
||||
<property>/sim/multiplay/generic/int[0]</property>
|
||||
<live>true</live>
|
||||
<binding>
|
||||
<command>dialog-apply</command>
|
||||
</binding>
|
||||
</checkbox>
|
||||
|
||||
<!-- row three -->
|
||||
<checkbox>
|
||||
<row>3</row> <col>0</col>
|
||||
<halign>left</halign>
|
||||
<label>Trajectory Markers</label>
|
||||
<property>/sim/multiplay/generic/int[1]</property>
|
||||
<live>true</live>
|
||||
<binding>
|
||||
<command>dialog-apply</command>
|
||||
</binding>
|
||||
</checkbox>
|
||||
|
||||
</group>
|
||||
|
||||
<hrule/>
|
||||
|
||||
</PropertyList>
|
||||
51
Tools/autotest/aircraft/Rascal/Engines/18x8.xml
Normal file
51
Tools/autotest/aircraft/Rascal/Engines/18x8.xml
Normal file
@ -0,0 +1,51 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<!-- Generated by Aero-Matic v 0.7
|
||||
|
||||
Inputs:
|
||||
horsepower: 3.8
|
||||
pitch: fixed
|
||||
Outputs:
|
||||
linear-blade-inches: 10.331602005498
|
||||
-->
|
||||
|
||||
<propeller name="Rascal Propeller">
|
||||
<ixx> 0.00085 </ixx>
|
||||
<diameter unit="IN"> 18.0 </diameter>
|
||||
<numblades> 2 </numblades>
|
||||
<minpitch> 30 </minpitch>
|
||||
<maxpitch> 30 </maxpitch>
|
||||
|
||||
<table name="C_THRUST" type="internal">
|
||||
<tableData>
|
||||
0.0 0.0776
|
||||
0.1 0.0744
|
||||
0.2 0.0712
|
||||
0.3 0.0655
|
||||
0.4 0.0588
|
||||
0.5 0.0518
|
||||
0.6 0.0419
|
||||
0.7 0.0318
|
||||
0.8 0.0172
|
||||
1.0 -0.0058
|
||||
1.4 -0.0549
|
||||
</tableData>
|
||||
</table>
|
||||
|
||||
<table name="C_POWER" type = "internal">
|
||||
<tableData>
|
||||
0.0 0.0902
|
||||
0.1 0.0893
|
||||
0.2 0.0880
|
||||
0.3 0.0860
|
||||
0.4 0.0810
|
||||
0.5 0.0742
|
||||
0.6 0.0681
|
||||
0.7 0.0572
|
||||
0.8 0.0467
|
||||
1.0 0.0167
|
||||
1.4 -0.0803
|
||||
</tableData>
|
||||
</table>
|
||||
|
||||
</propeller>
|
||||
8
Tools/autotest/aircraft/Rascal/Engines/Zenoah_G-26A.xml
Normal file
8
Tools/autotest/aircraft/Rascal/Engines/Zenoah_G-26A.xml
Normal file
@ -0,0 +1,8 @@
|
||||
<?xml version="1.0"?>
|
||||
<!-- Zenoah G-26A -->
|
||||
<!-- 2.96 hp engine -->
|
||||
<!-- one horsepower equals 745.69987 Watts -->
|
||||
|
||||
<electric_engine name="electric_1mw">
|
||||
<power unit="WATTS"> 2207.27 </power>
|
||||
</electric_engine>
|
||||
BIN
Tools/autotest/aircraft/Rascal/Models/Rascal.rgb
Executable file
BIN
Tools/autotest/aircraft/Rascal/Models/Rascal.rgb
Executable file
Binary file not shown.
22017
Tools/autotest/aircraft/Rascal/Models/Rascal110-000-013.ac
Executable file
22017
Tools/autotest/aircraft/Rascal/Models/Rascal110-000-013.ac
Executable file
File diff suppressed because it is too large
Load Diff
87
Tools/autotest/aircraft/Rascal/Models/Rascal110.xml
Normal file
87
Tools/autotest/aircraft/Rascal/Models/Rascal110.xml
Normal file
@ -0,0 +1,87 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<PropertyList>
|
||||
|
||||
<path>Rascal110-000-013.ac</path>
|
||||
|
||||
<model>
|
||||
<path>Aircraft/Rascal/Models/smokeW.xml</path>
|
||||
<offsets>
|
||||
<x-m> 2.0</x-m>
|
||||
<y-m> 0.0</y-m>
|
||||
<z-m> 0.0</z-m>
|
||||
<roll-deg> 0</roll-deg>
|
||||
<pitch-deg> 0</pitch-deg>
|
||||
<heading-deg>0</heading-deg>
|
||||
</offsets>
|
||||
</model>
|
||||
|
||||
<animation>
|
||||
<type>rotate</type>
|
||||
<object-name>L_Aileron</object-name>
|
||||
<property>/surface-positions/left-aileron-pos-norm</property>
|
||||
<factor>20.0</factor> <!-- fixme -->
|
||||
<center>
|
||||
<x-m>0.735</x-m>
|
||||
<y-m>-0.450</y-m>
|
||||
<z-m>0.139</z-m>
|
||||
</center>
|
||||
<axis>
|
||||
<x>0.037</x>
|
||||
<y>1.0</y>
|
||||
<z>-0.029</z>
|
||||
</axis>
|
||||
</animation>
|
||||
|
||||
<animation>
|
||||
<type>rotate</type>
|
||||
<object-name>R_Aileron</object-name>
|
||||
<property>/surface-positions/right-aileron-pos-norm</property>
|
||||
<factor>20.0</factor> <!-- fixme -->
|
||||
<center>
|
||||
<x-m>0.735</x-m>
|
||||
<y-m>0.450</y-m>
|
||||
<z-m>0.139</z-m>
|
||||
</center>
|
||||
<axis>
|
||||
<x>-0.037</x>
|
||||
<y>1.0</y>
|
||||
<z>0.029</z>
|
||||
</axis>
|
||||
</animation>
|
||||
|
||||
<animation>
|
||||
<type>rotate</type>
|
||||
<object-name>Elevator</object-name>
|
||||
<property>/surface-positions/elevator-pos-norm</property>
|
||||
<factor>35.0</factor> <!-- fixme -->
|
||||
<center>
|
||||
<x-m>1.752</x-m>
|
||||
<y-m>0.0</y-m>
|
||||
<z-m>0.051</z-m>
|
||||
</center>
|
||||
<axis>
|
||||
<x>0.0</x>
|
||||
<y>1.0</y>
|
||||
<z>0.0</z>
|
||||
</axis>
|
||||
</animation>
|
||||
|
||||
<animation>
|
||||
<type>rotate</type>
|
||||
<object-name>Rudder</object-name>
|
||||
<property>/surface-positions/rudder-pos-norm</property>
|
||||
<factor>35.0</factor> <!-- fixme -->
|
||||
<center>
|
||||
<x-m>1.752</x-m>
|
||||
<y-m>0.0</y-m>
|
||||
<z-m>0.0</z-m>
|
||||
</center>
|
||||
<axis>
|
||||
<x>0.0</x>
|
||||
<y>0.0</y>
|
||||
<z>1.0</z>
|
||||
</axis>
|
||||
</animation>
|
||||
|
||||
</PropertyList>
|
||||
30
Tools/autotest/aircraft/Rascal/Models/Trajectory-Marker.ac
Normal file
30
Tools/autotest/aircraft/Rascal/Models/Trajectory-Marker.ac
Normal file
@ -0,0 +1,30 @@
|
||||
AC3Db
|
||||
MATERIAL "ac3dmat9" rgb 0 0 1 amb 0 0 1 emis 0 0 1 spec 0 0 1 shi 0 trans 0
|
||||
MATERIAL "ac3dmat3" rgb 1 0 0 amb 1 0 0 emis 1 0 0 spec 1 0 0 shi 0 trans 0
|
||||
OBJECT world
|
||||
kids 2
|
||||
OBJECT poly
|
||||
name "line"
|
||||
loc 0 0.5 0
|
||||
numvert 2
|
||||
0 0.5 0
|
||||
0 -0.5 0
|
||||
numsurf 1
|
||||
SURF 0x22
|
||||
mat 0
|
||||
refs 2
|
||||
0 0 1
|
||||
1 0 0
|
||||
kids 0
|
||||
OBJECT poly
|
||||
name "line"
|
||||
numvert 2
|
||||
0 0 -3
|
||||
0 0 3
|
||||
numsurf 1
|
||||
SURF 0x22
|
||||
mat 1
|
||||
refs 2
|
||||
0 0 1
|
||||
1 0 0
|
||||
kids 0
|
||||
@ -0,0 +1,9 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<!-- Trajectory Marker config file - Lee Elliott -->
|
||||
|
||||
<PropertyList>
|
||||
|
||||
<path>Trajectory-Marker.ac</path>
|
||||
|
||||
</PropertyList>
|
||||
102
Tools/autotest/aircraft/Rascal/Models/smokeW.xml
Normal file
102
Tools/autotest/aircraft/Rascal/Models/smokeW.xml
Normal file
@ -0,0 +1,102 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
|
||||
<!-- New version May, 07, 2009 by 102nd-YU-Nitro -->
|
||||
|
||||
<PropertyList>
|
||||
|
||||
<!-- OSG Particles -->
|
||||
<particlesystem>
|
||||
<name>smoke</name>
|
||||
|
||||
<offsets>
|
||||
<x-m> 0.000 </x-m>
|
||||
<y-m> 0.000 </y-m>
|
||||
<z-m> -0.000 </z-m>
|
||||
<roll-deg> 0.000 </roll-deg>
|
||||
<pitch-deg> 0.000 </pitch-deg>
|
||||
<heading-deg> 0.000 </heading-deg>
|
||||
</offsets>
|
||||
|
||||
<texture>smoke.png</texture>
|
||||
|
||||
<condition>
|
||||
<property>sim/multiplay/generic/int[0]</property>
|
||||
</condition>
|
||||
|
||||
<emissive>false</emissive>
|
||||
<lighting>false</lighting>
|
||||
<align>billboard</align> <!-- billboard / fixed -->
|
||||
<attach>world</attach> <!-- world / local-->
|
||||
|
||||
<placer>
|
||||
<type>point</type> <!-- sector / segments / point -->
|
||||
</placer>
|
||||
|
||||
<shooter>
|
||||
<theta-min-deg>10</theta-min-deg>
|
||||
<theta-max-deg>86</theta-max-deg>
|
||||
<phi-min-deg>-1.5</phi-min-deg>
|
||||
<phi-max-deg>8</phi-max-deg>
|
||||
<speed-mps>
|
||||
<value>10</value>
|
||||
<spread>2.5</spread>
|
||||
</speed-mps>
|
||||
<rotation-speed>
|
||||
<x-min-deg-sec>5</x-min-deg-sec>
|
||||
<y-min-deg-sec>5</y-min-deg-sec>
|
||||
<z-min-deg-sec>5</z-min-deg-sec>
|
||||
<x-max-deg-sec>60</x-max-deg-sec>
|
||||
<y-max-deg-sec>60</y-max-deg-sec>
|
||||
<z-max-deg-sec>60</z-max-deg-sec>
|
||||
</rotation-speed>
|
||||
</shooter>
|
||||
|
||||
<counter>
|
||||
<particles-per-sec>
|
||||
<value>100</value>
|
||||
<spread>1</spread>
|
||||
</particles-per-sec>
|
||||
</counter>
|
||||
|
||||
<particle>
|
||||
<start>
|
||||
<color>
|
||||
<red><value> 0.9 </value></red>
|
||||
<green><value> 0.9 </value></green>
|
||||
<blue><value> 0.9 </value></blue>
|
||||
<alpha><value> 0.3 </value></alpha>
|
||||
</color>
|
||||
<size>
|
||||
<value>0.3</value>
|
||||
</size>
|
||||
</start>
|
||||
|
||||
<end>
|
||||
<color>
|
||||
<red><value> 0.900 </value></red>
|
||||
<green><value> 0.900 </value></green>
|
||||
<blue><value> 0.900 </value></blue>
|
||||
<alpha><value> 0.001 </value></alpha>
|
||||
</color>
|
||||
<size>
|
||||
<value>10.0</value>
|
||||
</size>
|
||||
</end>
|
||||
|
||||
<life-sec>
|
||||
<value>60</value>
|
||||
</life-sec>
|
||||
|
||||
<mass-kg>0.001</mass-kg>
|
||||
<radius-m>1.0</radius-m>
|
||||
</particle>
|
||||
|
||||
<program>
|
||||
<fluid>air</fluid> <!-- air / water -->
|
||||
<gravity>false</gravity>
|
||||
<wind>true</wind>
|
||||
</program>
|
||||
|
||||
</particlesystem>
|
||||
|
||||
</PropertyList>
|
||||
244
Tools/autotest/aircraft/Rascal/README.Rascal
Normal file
244
Tools/autotest/aircraft/Rascal/README.Rascal
Normal file
@ -0,0 +1,244 @@
|
||||
This model is based on the Rascal110 from FlightGear, and adapted for
|
||||
use in the ArduPilot test system. Many thanks to all who have
|
||||
contributed!
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
This information has not been updated for the Rascal, please ignore, we
|
||||
are still at pre-pre-pre-alpha with this model!
|
||||
|
||||
PIPER J3 CUB PERFORMANCE DATA
|
||||
=============================
|
||||
|
||||
[This information is copied from the 1946 J3C-65 owner's handbook.]
|
||||
|
||||
FLYING HINTS
|
||||
|
||||
The Piper Cub Special represents more than 15 years of diligent
|
||||
aircraft engineering and manufacturing experience. Its simplicity of
|
||||
design and construction, its low operating and maintenance costs, its
|
||||
inherent stability, ruggedness, and its outstanding safety and ease of
|
||||
flying, have made it the most popular airplane in aviation history.
|
||||
The Piper Cub Special is the time-tested product of millions of hours
|
||||
of flying under all conceivable conditions both in the military and in
|
||||
peace time.
|
||||
|
||||
There are hints on starting, flying, stopping, and other related
|
||||
topics that are important to the owner who wants to conserve his
|
||||
airplane -- keep it in maximum airworthy condition -- and enjoy a full
|
||||
measure of flying satisfaction.
|
||||
|
||||
|
||||
First, each pilot should become familiar enough with his Piper Cub
|
||||
Special that he can accomplish a satisfactory pre-flight inspection.
|
||||
This check is simple and requires only a few minutes. See Section IX
|
||||
for check list. Daily check of airplane prior to flight should be the
|
||||
first in a number of safe flying habits the pilot should acquire.
|
||||
|
||||
|
||||
A. BEFORE STARTING ENGINE
|
||||
|
||||
(1) Make routine check of gasoline supply. Visible fuel gauge is
|
||||
integral part of gas tank cap; it will not show number of gallons but
|
||||
will show proportion of fuel in tank by length of rod which extends
|
||||
upward from cap. A full tank of 12 U.S. gallons will be indicated by
|
||||
11 inches of rod extending beyond cap. Keep gas gauge rod clean and
|
||||
smooth with crocus cloth for accuracy and freedom of movement.
|
||||
|
||||
(2) Check oil level in engine sump by removing oil cap and gauge. Oil
|
||||
stick should indicate oil level up to index mark of 4 quarts.
|
||||
|
||||
(3) Check freedom of movement of flight and engine controls.
|
||||
|
||||
|
||||
B. STARTING ENGINE
|
||||
|
||||
(1) Chock wheels, or have occupant who is familiar with controls set
|
||||
brakes in cabin.
|
||||
|
||||
(2) Ignition switch OFF. Verify.
|
||||
|
||||
(3) Set throttle approximately 1/10 open.
|
||||
|
||||
(4) Push fuel shut-off ON.
|
||||
|
||||
(5) Turn propeller through several times.
|
||||
|
||||
(6) Turn ignition switch ON.
|
||||
|
||||
(7) Start engine by pulling propeller through with a snap.
|
||||
|
||||
CAUTION -- Always handle propeller as if switch were "ON." Stand as
|
||||
far in front of propeller as possible. Use both hands and grasp one
|
||||
blad approximately midway from tip. Do not overgrasp blade. Do not
|
||||
wear long, loose clothing. Make sure footing is sure to preclude
|
||||
possibility of feet slipping.
|
||||
|
||||
(8) If engine does not start, turn switch OFF. Turn primer knob to
|
||||
unlock, pull out, pump three or four times, then reseat primer and
|
||||
lock by turning in opposite direction. In extremely cold weather a
|
||||
few strokes of the primer as the engine starts will enable it to keep
|
||||
running. NOTE -- Avoid excessive priming as it causes raw gasoline to
|
||||
wash lubricating oil from engine cylinder walls. Do not prime warm
|
||||
engine.
|
||||
|
||||
(9) Repeat starting procedures 6, 7.
|
||||
|
||||
(10) If engine loads up and refuses to start, turn ignition switch
|
||||
"OFF,", open throttle wide and turn propeller through backwards
|
||||
several times to unload excessive gas mixture in cylinders. Then
|
||||
close throttle and repeat starting procedure.
|
||||
|
||||
|
||||
C. ENGINE WARM-UP
|
||||
|
||||
(1) As soon as engine starts, advance throttle slightly to idle at 700
|
||||
R.P.M. Check engine instruments. If oil pressure gauge does not
|
||||
indicate pressure within 30 seconds, stop engine immediately, check
|
||||
and correct trouble before any further operation. Oil temperature
|
||||
during operating should not rise above 200° F. and oil pressure should
|
||||
not fall below 30 pounds. With engine warm, idling speed should be
|
||||
550-600 R.P.M.
|
||||
|
||||
(2) Rev engine up to 2100 R.P.M. on both magnetos. Switch to LEFT and
|
||||
RIGHT magnetos. R.P.M. drop should not be over 75 R.P.M. CAUTION
|
||||
--Do not operate engine on either single magneto for more than 30
|
||||
seconds at a time, as this tends to foul the non-operating spark plugs
|
||||
in the ignition circuit of the magneto that is switched off.
|
||||
|
||||
|
||||
D. STOPPING ENGINE
|
||||
|
||||
(1) Never cut switch immediately after landing as this causes engine
|
||||
to cool too rapidly.
|
||||
|
||||
(2) Idle engine, especially in high temperature operating conditions,
|
||||
for several minutes. It is advisable to switch to each magneto for 30
|
||||
second intervals to allow gradual cooling of engine. This helps to
|
||||
prevent overheating of spark plug insulators and will lessen tendency
|
||||
for "after-firing."
|
||||
|
||||
(3) Check for carburetor heat OFF during idling.
|
||||
|
||||
|
||||
E. TAXIING
|
||||
|
||||
(1) Open throttle to start airplane in motion; then close throttle to
|
||||
a setting sufficient to keep airplane rolling. Do not keep throttle
|
||||
advanced so that it is necessary to control taxi speed of airplane
|
||||
with brakes. This causes unnecessary wear and tear on brakes and
|
||||
tires.
|
||||
|
||||
(2) Taxi slowly (speed of a fast walk) controlling direction with
|
||||
rudder which is connected to a steerable tail wheel. Use brakes only
|
||||
for positive, precision ground control when necessary.
|
||||
|
||||
(3) Taxi upwind with stick back; downwind with stick foreward. When
|
||||
ground winds are in excess of 15 M.P.H., turn into wind using ailerons
|
||||
in direction of turn; apply ailerons away from the turn when turning
|
||||
downwind. This procedure helps to prevent the wind "picking up" a
|
||||
wing during windy, gusty conditions. Always make ground turns slowly.
|
||||
|
||||
|
||||
F. GENERAL FLYING
|
||||
|
||||
(1) For takeoff use full throttle, heading into wind. Airplane loaded
|
||||
will become airborne at approximately 39 M.P.H. Best climb speed is
|
||||
an indicated 55 M.P.H.
|
||||
|
||||
(2) Indicated R.P.M. for cruising speed of 73 M.P.H. is 2150.
|
||||
Take-off R.P.M. is 2300. Do not fly at full throttle over 3 minutes.
|
||||
|
||||
(3) Use CARBURETOR AIR HEAT when engine runs "rough" and tachometer
|
||||
shows drop in R.P.M. which may be due to ice forming in carburetor.
|
||||
Tachometer should recover to within 50 R.P.M. below normal when using
|
||||
carburetor heat. Push heater to "OFF" position, and if icing
|
||||
condition has been cleared, R.P.M. should return to normal. Continued
|
||||
use of carburetor heat will only cause increased fuel consumption and
|
||||
loss of power.
|
||||
|
||||
(4) Maximum permissible diving speed is 122 M.P.H.
|
||||
|
||||
|
||||
G. APPROACH AND LANDING
|
||||
|
||||
(1) Push carburetor heat ON prior to throttling back for glide, or for
|
||||
any other flight maneuver.
|
||||
|
||||
(2) Glide between 50-60 M.P.H. depending upon loading of airplane and
|
||||
gust conditions.
|
||||
|
||||
NOTE -- "Clear" engine by opening throttle gently, every 200-250 feet
|
||||
of descent during a long glide so that engine temperature will be
|
||||
maintained.
|
||||
|
||||
Throttle action on the part of the pilot should be smooth and gentle
|
||||
at all times.
|
||||
|
||||
|
||||
H. PARKING AND MOORING
|
||||
|
||||
(1) After termination of flight, enter flying time in aircraft and
|
||||
engine log books.
|
||||
|
||||
(2) Turn ignition and fuel OFF.
|
||||
|
||||
(3) Chcok the wheels of airplane.
|
||||
|
||||
(4) If airplane is not to be flown for some time, it should be
|
||||
hangared or tied down. Use good quality 1/2" - 5/8" diameter rope.
|
||||
Secure to lift assist handle at aft end of fuselage; also at upper end
|
||||
of both front wing lift struts where they attach to wing. Make sure
|
||||
that rope passes between aileron cable and lift strut. Mooring ropes,
|
||||
when airplane is tied down, should have no slack.
|
||||
|
||||
(5) Lock aileron and elevator controls by wrapping front seat belt
|
||||
completely around rear control stick, tighten and buckle.
|
||||
|
||||
(6) Under excessively wind conditions, airplane should be tailed into
|
||||
wind for mooring.
|
||||
|
||||
|
||||
|
||||
|
||||
[Here is my older information.]
|
||||
|
||||
These are the only numbers I could find. They are for a J3 Cub with
|
||||
an 85HP engine rather than 65 hp, so some adjustments may be
|
||||
necessary. The source is
|
||||
|
||||
http://www.evergreenfs.com/planedata.htm
|
||||
|
||||
|
||||
Speeds
|
||||
------
|
||||
Best rate of climb (Vy): 65 mph (57 kt)
|
||||
Best angle of climb (Vx): 55 mph (48 kt)
|
||||
Cruise: 70 mph (61 kt)
|
||||
Never-exceed (Vne): 122 mph (106 kt)
|
||||
Best Glide (Vglide): 60 mph (52 kt)
|
||||
Stall (Vs): 38 mph (33 kt)
|
||||
Maneuvering (Va): 70 mph (61 kt)
|
||||
Approach: 50-60 mph (44-52 kt)
|
||||
|
||||
Power
|
||||
-----
|
||||
Take off: full
|
||||
Climb: 50 rpm below full
|
||||
Cruise: 2300 rpm
|
||||
Approach: 1200 rpm
|
||||
Practice stalls: 1200 rpm
|
||||
|
||||
Distances
|
||||
---------
|
||||
Take-off: 450-800 ft
|
||||
Landing: 200-800 ft
|
||||
|
||||
Fuel
|
||||
----
|
||||
Total fuel: 12 gal US
|
||||
Usable fuel: 12 gal US
|
||||
Grade: 80/87
|
||||
GPH: 5 gal US/hr
|
||||
23
Tools/autotest/aircraft/Rascal/Rascal-keyboard.xml
Normal file
23
Tools/autotest/aircraft/Rascal/Rascal-keyboard.xml
Normal file
@ -0,0 +1,23 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
|
||||
<PropertyList>
|
||||
|
||||
<key n="9">
|
||||
<name>Ctrl-I</name>
|
||||
<desc>Show configuration dialog</desc>
|
||||
<binding>
|
||||
<command>nasal</command>
|
||||
<script>rascal.dialog.toggle()</script>
|
||||
</binding>
|
||||
</key>
|
||||
|
||||
<key n="83">
|
||||
<name>S</name>
|
||||
<desc>Toggle smoke</desc>
|
||||
<binding>
|
||||
<command>property-toggle</command>
|
||||
<property>sim/multiplay/generic/int[0]</property>
|
||||
</binding>
|
||||
</key>
|
||||
|
||||
</PropertyList>
|
||||
25
Tools/autotest/aircraft/Rascal/Rascal-submodels.xml
Normal file
25
Tools/autotest/aircraft/Rascal/Rascal-submodels.xml
Normal file
@ -0,0 +1,25 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<PropertyList>
|
||||
|
||||
<submodel>
|
||||
<name>trajectory marker</name>
|
||||
<model>Aircraft/Rascal/Models/Trajectory-Marker.xml</model>
|
||||
<trigger>/sim/multiplay/generic/int[1]</trigger>
|
||||
<speed>0</speed>
|
||||
<repeat>true</repeat>
|
||||
<delay>0.75</delay>
|
||||
<count>-1</count>
|
||||
<x-offset>-0.5</x-offset>
|
||||
<y-offset>0.0</y-offset>
|
||||
<z-offset>-0.08</z-offset>
|
||||
<yaw-offset>0.0</yaw-offset>
|
||||
<pitch-offset>0.0</pitch-offset>
|
||||
<eda>1000000000.00</eda>
|
||||
<life>600</life>
|
||||
<buoyancy>32</buoyancy>
|
||||
<wind>false</wind>
|
||||
<aero-stabilised>false</aero-stabilised>
|
||||
</submodel>
|
||||
|
||||
</PropertyList>
|
||||
527
Tools/autotest/aircraft/Rascal/Rascal.xml
Normal file
527
Tools/autotest/aircraft/Rascal/Rascal.xml
Normal file
@ -0,0 +1,527 @@
|
||||
<?xml version="1.0"?>
|
||||
<?xml-stylesheet href="http://jsbsim.sourceforge.net/JSBSim.xsl" type="text/xsl"?>
|
||||
<fdm_config name="rascal" version="2.0" release="BETA"
|
||||
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
|
||||
xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
|
||||
|
||||
<fileheader>
|
||||
<author> Author Name </author>
|
||||
<filecreationdate> Creation Date </filecreationdate>
|
||||
<version> Version </version>
|
||||
<description> Models a rascal </description>
|
||||
</fileheader>
|
||||
|
||||
<metrics>
|
||||
<wingarea unit="FT2"> 10.57 </wingarea>
|
||||
<wingspan unit="FT"> 9.17 </wingspan>
|
||||
<chord unit="FT"> 1.15 </chord>
|
||||
<htailarea unit="FT2"> 1.69 </htailarea>
|
||||
<htailarm unit="FT"> 3.28 </htailarm>
|
||||
<vtailarea unit="FT2"> 1.06 </vtailarea>
|
||||
<vtailarm unit="FT"> 0 </vtailarm>
|
||||
<location name="AERORP" unit="IN">
|
||||
<x> 37.4 </x>
|
||||
<y> 0 </y>
|
||||
<z> 0 </z>
|
||||
</location>
|
||||
<location name="EYEPOINT" unit="IN">
|
||||
<x> 20 </x>
|
||||
<y> 0 </y>
|
||||
<z> 5 </z>
|
||||
</location>
|
||||
<location name="VRP" unit="IN">
|
||||
<x> 0 </x>
|
||||
<y> 0 </y>
|
||||
<z> 0 </z>
|
||||
</location>
|
||||
</metrics>
|
||||
|
||||
<mass_balance>
|
||||
<ixx unit="SLUG*FT2"> 1.95 </ixx>
|
||||
<iyy unit="SLUG*FT2"> 1.55 </iyy>
|
||||
<izz unit="SLUG*FT2"> 1.91 </izz>
|
||||
<ixy unit="SLUG*FT2"> 0 </ixy>
|
||||
<ixz unit="SLUG*FT2"> 0 </ixz>
|
||||
<iyz unit="SLUG*FT2"> 0 </iyz>
|
||||
<emptywt unit="LBS"> 13 </emptywt>
|
||||
<location name="CG" unit="IN">
|
||||
<x> 36.4 </x>
|
||||
<y> 0 </y>
|
||||
<z> 4 </z>
|
||||
</location>
|
||||
</mass_balance>
|
||||
|
||||
<ground_reactions>
|
||||
<contact type="BOGEY" name="LEFT_MLG">
|
||||
<location unit="IN">
|
||||
<x> 33.1 </x>
|
||||
<y> -9.9 </y>
|
||||
<z> -13.1 </z>
|
||||
</location>
|
||||
<static_friction> 1.0 </static_friction>
|
||||
<dynamic_friction> 0.8 </dynamic_friction>
|
||||
<rolling_friction> 0.02 </rolling_friction>
|
||||
<spring_coeff unit="LBS/FT"> 12 </spring_coeff>
|
||||
<damping_coeff unit="LBS/FT/SEC"> 1 </damping_coeff>
|
||||
<max_steer unit="DEG"> 0.0 </max_steer>
|
||||
<brake_group> NONE </brake_group>
|
||||
<retractable>0</retractable>
|
||||
</contact>
|
||||
<contact type="BOGEY" name="RIGHT_MLG">
|
||||
<location unit="IN">
|
||||
<x> 33.1 </x>
|
||||
<y> 9.9 </y>
|
||||
<z> -13.1 </z>
|
||||
</location>
|
||||
<static_friction> 1.0 </static_friction>
|
||||
<dynamic_friction> 0.8 </dynamic_friction>
|
||||
<rolling_friction> 0.02 </rolling_friction>
|
||||
<spring_coeff unit="LBS/FT"> 12 </spring_coeff>
|
||||
<damping_coeff unit="LBS/FT/SEC"> 1 </damping_coeff>
|
||||
<max_steer unit="DEG"> 0.0 </max_steer>
|
||||
<brake_group> NONE </brake_group>
|
||||
<retractable>0</retractable>
|
||||
</contact>
|
||||
<contact type="BOGEY" name="TAIL_LG">
|
||||
<location unit="IN">
|
||||
<x> 68.9 </x>
|
||||
<y> 0 </y>
|
||||
<!-- this sets the position of the tail wheel much
|
||||
lower than it should be, so that we start with
|
||||
zero pitch, which makes for a better simulation
|
||||
of ground start on the accelerometers/gyros in
|
||||
ArduPlane -->
|
||||
<z> -7.8 </z>
|
||||
</location>
|
||||
<static_friction> 1.0 </static_friction>
|
||||
<dynamic_friction> 0.8 </dynamic_friction>
|
||||
<rolling_friction> 0.02 </rolling_friction>
|
||||
<spring_coeff unit="LBS/FT"> 12 </spring_coeff>
|
||||
<damping_coeff unit="LBS/FT/SEC"> 1 </damping_coeff>
|
||||
<max_steer unit="DEG"> 360.0 </max_steer>
|
||||
<brake_group> NONE </brake_group>
|
||||
<retractable>0</retractable>
|
||||
</contact>
|
||||
</ground_reactions>
|
||||
|
||||
<propulsion>
|
||||
<engine file="Zenoah_G-26A">
|
||||
<location unit="IN">
|
||||
<x> 36 </x>
|
||||
<y> 0 </y>
|
||||
<z> 0 </z>
|
||||
</location>
|
||||
<orient unit="DEG">
|
||||
<roll> 0.0 </roll>
|
||||
<pitch> 0 </pitch>
|
||||
<yaw> 0 </yaw>
|
||||
</orient>
|
||||
<feed>0</feed>
|
||||
<thruster file="18x8">
|
||||
<location unit="IN">
|
||||
<x> 1 </x>
|
||||
<y> 0 </y>
|
||||
<z> 0 </z>
|
||||
</location>
|
||||
<orient unit="DEG">
|
||||
<roll> 0.0 </roll>
|
||||
<pitch> 0.0 </pitch>
|
||||
<yaw> 0.0 </yaw>
|
||||
</orient>
|
||||
<p_factor>1.0</p_factor>
|
||||
</thruster>
|
||||
</engine>
|
||||
<tank type="FUEL"> <!-- Tank number 0 -->
|
||||
<location unit="IN">
|
||||
<x> 36.36 </x>
|
||||
<y> 0 </y>
|
||||
<z> -1.89375 </z>
|
||||
</location>
|
||||
<capacity unit="LBS"> 1.5 </capacity>
|
||||
<contents unit="LBS"> 1.5 </contents>
|
||||
</tank>
|
||||
</propulsion>
|
||||
|
||||
<flight_control name="FCS: rascal">
|
||||
<channel name="All">
|
||||
|
||||
<summer name="Pitch Trim Sum">
|
||||
<input>fcs/elevator-cmd-norm</input>
|
||||
<input>fcs/pitch-trim-cmd-norm</input>
|
||||
<clipto>
|
||||
<min>-1</min>
|
||||
<max>1</max>
|
||||
</clipto>
|
||||
</summer>
|
||||
|
||||
<aerosurface_scale name="Elevator Control">
|
||||
<input>fcs/pitch-trim-sum</input>
|
||||
<range>
|
||||
<min>-0.35</min>
|
||||
<max>0.3</max>
|
||||
</range>
|
||||
<output>fcs/elevator-pos-rad</output>
|
||||
</aerosurface_scale>
|
||||
|
||||
<aerosurface_scale name="Elevator Normalized">
|
||||
<input>fcs/elevator-pos-rad</input>
|
||||
<domain>
|
||||
<min>-0.3</min>
|
||||
<max> 0.3</max>
|
||||
</domain>
|
||||
<range>
|
||||
<min>-1</min>
|
||||
<max> 1</max>
|
||||
</range>
|
||||
<output>fcs/elevator-pos-norm</output>
|
||||
</aerosurface_scale>
|
||||
|
||||
<summer name="Roll Trim Sum">
|
||||
<input>fcs/aileron-cmd-norm</input>
|
||||
<input>fcs/roll-trim-cmd-norm</input>
|
||||
<clipto>
|
||||
<min>-1</min>
|
||||
<max>1</max>
|
||||
</clipto>
|
||||
</summer>
|
||||
|
||||
<aerosurface_scale name="Left Aileron Control">
|
||||
<input>fcs/roll-trim-sum</input>
|
||||
<range>
|
||||
<min>-0.35</min>
|
||||
<max>0.35</max>
|
||||
</range>
|
||||
<output>fcs/left-aileron-pos-rad</output>
|
||||
</aerosurface_scale>
|
||||
|
||||
<aerosurface_scale name="Right Aileron Control">
|
||||
<input>-fcs/roll-trim-sum</input>
|
||||
<range>
|
||||
<min>-0.35</min>
|
||||
<max>0.35</max>
|
||||
</range>
|
||||
<output>fcs/right-aileron-pos-rad</output>
|
||||
</aerosurface_scale>
|
||||
|
||||
<aerosurface_scale name="Left aileron Normalized">
|
||||
<input>fcs/left-aileron-pos-rad</input>
|
||||
<domain>
|
||||
<min>-0.35</min>
|
||||
<max> 0.35</max>
|
||||
</domain>
|
||||
<range>
|
||||
<min>-1</min>
|
||||
<max> 1</max>
|
||||
</range>
|
||||
<output>fcs/left-aileron-pos-norm</output>
|
||||
</aerosurface_scale>
|
||||
|
||||
<aerosurface_scale name="Right aileron Normalized">
|
||||
<input>fcs/right-aileron-pos-rad</input>
|
||||
<domain>
|
||||
<min>-0.35</min>
|
||||
<max> 0.35</max>
|
||||
</domain>
|
||||
<range>
|
||||
<min>-1</min>
|
||||
<max> 1</max>
|
||||
</range>
|
||||
<output>fcs/right-aileron-pos-norm</output>
|
||||
</aerosurface_scale>
|
||||
|
||||
<summer name="Rudder Command Sum">
|
||||
<input>fcs/rudder-cmd-norm</input>
|
||||
<input>fcs/yaw-trim-cmd-norm</input>
|
||||
<clipto>
|
||||
<min>-1</min>
|
||||
<max>1</max>
|
||||
</clipto>
|
||||
</summer>
|
||||
|
||||
<aerosurface_scale name="Rudder Control">
|
||||
<input>fcs/rudder-command-sum</input>
|
||||
<range>
|
||||
<min>-0.35</min>
|
||||
<max>0.35</max>
|
||||
</range>
|
||||
<output>fcs/rudder-pos-rad</output>
|
||||
</aerosurface_scale>
|
||||
|
||||
<aerosurface_scale name="Rudder Normalized">
|
||||
<input>fcs/rudder-pos-rad</input>
|
||||
<domain>
|
||||
<min>-0.35</min>
|
||||
<max> 0.35</max>
|
||||
</domain>
|
||||
<range>
|
||||
<min>-1</min>
|
||||
<max> 1</max>
|
||||
</range>
|
||||
<output>fcs/rudder-pos-norm</output>
|
||||
</aerosurface_scale>
|
||||
</channel>
|
||||
</flight_control>
|
||||
|
||||
<aerodynamics>
|
||||
<axis name="DRAG">
|
||||
<function name="aero/coefficient/CD0">
|
||||
<description>Drag_at_zero_lift</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<table>
|
||||
<independentVar>aero/alpha-rad</independentVar>
|
||||
<tableData>
|
||||
-1.5700 1.5000
|
||||
-0.2600 0.0560
|
||||
0.0000 0.0280
|
||||
0.2600 0.0560
|
||||
1.5700 1.5000
|
||||
</tableData>
|
||||
</table>
|
||||
</product>
|
||||
</function>
|
||||
<function name="aero/coefficient/CDi">
|
||||
<description>Induced_drag</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>aero/cl-squared</property>
|
||||
<value>0.0400</value>
|
||||
</product>
|
||||
</function>
|
||||
<function name="aero/coefficient/CDbeta">
|
||||
<description>Drag_due_to_sideslip</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<table>
|
||||
<independentVar>aero/beta-rad</independentVar>
|
||||
<tableData>
|
||||
-1.5700 1.2300
|
||||
-0.2600 0.0500
|
||||
0.0000 0.0000
|
||||
0.2600 0.0500
|
||||
1.5700 1.2300
|
||||
</tableData>
|
||||
</table>
|
||||
</product>
|
||||
</function>
|
||||
<function name="aero/coefficient/CDde">
|
||||
<description>Drag_due_to_Elevator_Deflection</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>fcs/elevator-pos-norm</property>
|
||||
<value>0.0300</value>
|
||||
</product>
|
||||
</function>
|
||||
</axis>
|
||||
|
||||
<axis name="SIDE">
|
||||
<function name="aero/coefficient/CYb">
|
||||
<description>Side_force_due_to_beta</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>aero/beta-rad</property>
|
||||
<value>-1.0000</value>
|
||||
</product>
|
||||
</function>
|
||||
</axis>
|
||||
|
||||
<axis name="LIFT">
|
||||
<function name="aero/coefficient/CLalpha">
|
||||
<description>Lift_due_to_alpha</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<table>
|
||||
<independentVar>aero/alpha-rad</independentVar>
|
||||
<tableData>
|
||||
-0.2000 -0.7500
|
||||
0.0000 0.2500
|
||||
0.2300 1.4000
|
||||
0.6000 0.7100
|
||||
</tableData>
|
||||
</table>
|
||||
</product>
|
||||
</function>
|
||||
<function name="aero/coefficient/CLde">
|
||||
<description>Lift_due_to_Elevator_Deflection</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>fcs/elevator-pos-rad</property>
|
||||
<value>0.2000</value>
|
||||
</product>
|
||||
</function>
|
||||
</axis>
|
||||
|
||||
<axis name="ROLL">
|
||||
<function name="aero/coefficient/Clb">
|
||||
<description>Roll_moment_due_to_beta</description>
|
||||
<!-- aka dihedral effect -->
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/bw-ft</property>
|
||||
<property>aero/beta-rad</property>
|
||||
<value>-0.1000</value>
|
||||
</product>
|
||||
</function>
|
||||
<function name="aero/coefficient/Clp">
|
||||
<description>Roll_moment_due_to_roll_rate</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/bw-ft</property>
|
||||
<property>aero/bi2vel</property>
|
||||
<property>velocities/p-aero-rad_sec</property>
|
||||
<value>-0.4000</value>
|
||||
</product>
|
||||
</function>
|
||||
<function name="aero/coefficient/Clr">
|
||||
<description>Roll_moment_due_to_yaw_rate</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/bw-ft</property>
|
||||
<property>aero/bi2vel</property>
|
||||
<property>velocities/r-aero-rad_sec</property>
|
||||
<value>0.1500</value>
|
||||
</product>
|
||||
</function>
|
||||
<function name="aero/coefficient/Clda">
|
||||
<description>Roll_moment_due_to_aileron</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/bw-ft</property>
|
||||
<property>fcs/left-aileron-pos-rad</property>
|
||||
<table>
|
||||
<independentVar>velocities/mach</independentVar>
|
||||
<tableData>
|
||||
0.0000 0.1300
|
||||
2.0000 0.0570
|
||||
</tableData>
|
||||
</table>
|
||||
</product>
|
||||
</function>
|
||||
<function name="aero/coefficient/Cldr">
|
||||
<description>Roll_moment_due_to_rudder</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/bw-ft</property>
|
||||
<property>fcs/rudder-pos-rad</property>
|
||||
<value>0.0100</value>
|
||||
</product>
|
||||
</function>
|
||||
</axis>
|
||||
|
||||
<axis name="PITCH">
|
||||
<function name="aero/coefficient/Cmalpha">
|
||||
<description>Pitch_moment_due_to_alpha</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/cbarw-ft</property>
|
||||
<property>aero/alpha-rad</property>
|
||||
<value>-0.5000</value>
|
||||
</product>
|
||||
</function>
|
||||
<function name="aero/coefficient/Cmde">
|
||||
<description>Pitch_moment_due_to_elevator</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/cbarw-ft</property>
|
||||
<property>fcs/elevator-pos-rad</property>
|
||||
<table>
|
||||
<independentVar>velocities/mach</independentVar>
|
||||
<tableData>
|
||||
0.0000 -0.5000 <!-- was -1.1 -->
|
||||
2.0000 -0.2750
|
||||
</tableData>
|
||||
</table>
|
||||
</product>
|
||||
</function>
|
||||
<function name="aero/coefficient/Cmq">
|
||||
<description>Pitch_moment_due_to_pitch_rate</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/cbarw-ft</property>
|
||||
<property>aero/ci2vel</property>
|
||||
<property>velocities/q-aero-rad_sec</property>
|
||||
<value>-12.0000</value>
|
||||
</product>
|
||||
</function>
|
||||
<function name="aero/coefficient/Cmadot">
|
||||
<description>Pitch_moment_due_to_alpha_rate</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/cbarw-ft</property>
|
||||
<property>aero/ci2vel</property>
|
||||
<property>aero/alphadot-rad_sec</property>
|
||||
<value>-7.0000</value>
|
||||
</product>
|
||||
</function>
|
||||
</axis>
|
||||
|
||||
<axis name="YAW">
|
||||
<function name="aero/coefficient/Cnb">
|
||||
<description>Yaw_moment_due_to_beta</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/bw-ft</property>
|
||||
<property>aero/beta-rad</property>
|
||||
<value>0.1200</value>
|
||||
</product>
|
||||
</function>
|
||||
<function name="aero/coefficient/Cnr">
|
||||
<description>Yaw_moment_due_to_yaw_rate</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/bw-ft</property>
|
||||
<property>aero/bi2vel</property>
|
||||
<property>velocities/r-aero-rad_sec</property>
|
||||
<value>-0.1500</value>
|
||||
</product>
|
||||
</function>
|
||||
<function name="aero/coefficient/Cndr">
|
||||
<description>Yaw_moment_due_to_rudder</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/bw-ft</property>
|
||||
<property>fcs/rudder-pos-rad</property>
|
||||
<value>-0.0500</value>
|
||||
</product>
|
||||
</function>
|
||||
<function name="aero/coefficient/Cnda">
|
||||
<description>Adverse_yaw</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/bw-ft</property>
|
||||
<property>fcs/left-aileron-pos-rad</property>
|
||||
<value>-0.0300</value>
|
||||
</product>
|
||||
</function>
|
||||
<function name="aero/coefficient/Cndi">
|
||||
<description>Yaw_moment_due_to_tail_incidence</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/bw-ft</property>
|
||||
<value>0.0007</value>
|
||||
</product>
|
||||
</function>
|
||||
</axis>
|
||||
</aerodynamics>
|
||||
</fdm_config>
|
||||
172
Tools/autotest/aircraft/Rascal/Rascal110-JSBSim-set.xml
Normal file
172
Tools/autotest/aircraft/Rascal/Rascal110-JSBSim-set.xml
Normal file
@ -0,0 +1,172 @@
|
||||
<?xml version="1.0"?>
|
||||
<!--
|
||||
************************************************************************
|
||||
Rascal 110 R/C airplane config. This files ties together all the components
|
||||
used by FGFS to represent the Rascal 110 (by Sig Mfg) including the flight
|
||||
dynamics model, and external 3D model.
|
||||
************************************************************************
|
||||
-->
|
||||
|
||||
<PropertyList>
|
||||
<sim>
|
||||
|
||||
<description>Rascal 110 (R/C)</description>
|
||||
<author>Lee Elliot (3D) Dave Culp (JSBsim dynamics) and Curt Olson</author>
|
||||
<aircraft-version>0.1</aircraft-version>
|
||||
<model-hz>400</model-hz>
|
||||
|
||||
<startup>
|
||||
<splash-texture>Aircraft/Rascal/Rascal110-splash.rgb</splash-texture>
|
||||
</startup>
|
||||
|
||||
<flight-model>jsb</flight-model>
|
||||
<aero>Rascal110-JSBSim</aero>
|
||||
<fuel-fraction>0.8</fuel-fraction>
|
||||
|
||||
<systems>
|
||||
<autopilot>
|
||||
<path>Aircraft/Rascal/Systems/110-autopilot.xml</path>
|
||||
</autopilot>
|
||||
<electrical>
|
||||
<path>Aircraft/Rascal/Systems/electrical.xml</path>
|
||||
</electrical>
|
||||
</systems>
|
||||
|
||||
<sound>
|
||||
<path>Aircraft/Generic/generic-sound.xml</path>
|
||||
</sound>
|
||||
|
||||
<panel>
|
||||
<visibility archive="n">false</visibility>
|
||||
</panel>
|
||||
|
||||
<model>
|
||||
<path archive="y">Aircraft/Rascal/Models/Rascal110.xml</path>
|
||||
</model>
|
||||
|
||||
<view>
|
||||
<internal archive="y">true</internal>
|
||||
<config>
|
||||
<x-offset-m archive="y">0.0</x-offset-m>
|
||||
<y-offset-m archive="y">-0.15</y-offset-m>
|
||||
<z-offset-m archive="y">0.9</z-offset-m>
|
||||
<pitch-offset-deg>0</pitch-offset-deg>
|
||||
</config>
|
||||
</view>
|
||||
|
||||
<submodels>
|
||||
<serviceable type="bool">1</serviceable>
|
||||
<path>Aircraft/Rascal/Rascal-submodels.xml</path>
|
||||
</submodels>
|
||||
|
||||
<view n="1">
|
||||
<config>
|
||||
<target-z-offset-m archive="y" type="double">0.5</target-z-offset-m>
|
||||
</config>
|
||||
</view>
|
||||
|
||||
<view n="2">
|
||||
<config>
|
||||
<target-z-offset-m archive="y" type="double">0.5</target-z-offset-m>
|
||||
</config>
|
||||
</view>
|
||||
|
||||
<view n="3">
|
||||
<config>
|
||||
<target-z-offset-m archive="y" type="double">0.5</target-z-offset-m>
|
||||
</config>
|
||||
</view>
|
||||
|
||||
<view n="4">
|
||||
<config>
|
||||
<target-z-offset-m archive="y" type="double">0.5</target-z-offset-m>
|
||||
</config>
|
||||
</view>
|
||||
|
||||
<view n="5">
|
||||
<config>
|
||||
<target-z-offset-m archive="y" type="double">0.5</target-z-offset-m>
|
||||
</config>
|
||||
</view>
|
||||
|
||||
<view n="6">
|
||||
<config>
|
||||
<target-z-offset-m archive="y" type="double">0.5</target-z-offset-m>
|
||||
</config>
|
||||
</view>
|
||||
|
||||
<multiplay>
|
||||
<chat_display>1</chat_display>
|
||||
<generic>
|
||||
<int type="bool">0</int> <!-- smoke -->
|
||||
<int type="bool">0</int> <!-- trajectory markers -->
|
||||
</generic>
|
||||
</multiplay>
|
||||
|
||||
<help>
|
||||
<title>Rascal 110 (Sig Mfg)</title>
|
||||
<line>Cruise speed: 60 kts</line>
|
||||
<line>Never-exceed (Vne): 85 kts</line>
|
||||
<line>Best Glide (Vglide): 20 kts</line>
|
||||
<line>Maneuvering (Va): 50 kts</line>
|
||||
<line>Approach speed: 20-25 kts</line>
|
||||
<line>Stall speed (Vs): 15 kts</line>
|
||||
</help>
|
||||
|
||||
</sim>
|
||||
|
||||
<nasal>
|
||||
<rascal>
|
||||
<file>Aircraft/Rascal/Systems/main.nas</file>
|
||||
<file>Aircraft/Rascal/Systems/airdata.nas</file>
|
||||
<file>Aircraft/Rascal/Systems/ugear.nas</file>
|
||||
<script>
|
||||
setlistener("/sim/signals/fdm-initialized", func {
|
||||
var left = screen.display.new(20, 10);
|
||||
left.add("/surface-positions/right-aileron-pos-norm");
|
||||
left.add("/surface-positions/elevator-pos-norm");
|
||||
left.add("/surface-positions/rudder-pos-norm");
|
||||
left.add("/engines/engine/rpm");
|
||||
|
||||
var right = screen.display.new(-250, 20);
|
||||
right.add("/orientation/pitch-deg");
|
||||
right.add("/orientation/roll-deg");
|
||||
right.add("/position/altitude-agl-ft");
|
||||
right.add("/velocities/airspeed-kt");
|
||||
});
|
||||
</script>
|
||||
</rascal>
|
||||
</nasal>
|
||||
|
||||
<yasim>
|
||||
<Rascal110>
|
||||
<pilot-lb>2</pilot-lb>
|
||||
</Rascal110>
|
||||
</yasim>
|
||||
|
||||
<input>
|
||||
<keyboard include="Rascal-keyboard.xml"/>
|
||||
</input>
|
||||
|
||||
<controls>
|
||||
<flight>
|
||||
<aileron-trim>-0.01</aileron-trim> <!-- fixed -->
|
||||
<elevator-trim>0.00</elevator-trim> <!-- controllable -->
|
||||
<rudder-trim>0.00</rudder-trim> <!-- fixed -->
|
||||
</flight>
|
||||
<engines>
|
||||
<engine n="0">
|
||||
<magnetos>3</magnetos>
|
||||
</engine>
|
||||
</engines>
|
||||
<smoke alias="/sim/multiplay/generic/int[0]"/>
|
||||
<trajectory-markers alias="/sim/multiplay/generic/int[1]"/>
|
||||
</controls>
|
||||
|
||||
<engines>
|
||||
<engine>
|
||||
<rpm type="double">700</rpm>
|
||||
</engine>
|
||||
</engines>
|
||||
|
||||
</PropertyList>
|
||||
522
Tools/autotest/aircraft/Rascal/Rascal110-JSBSim.xml
Normal file
522
Tools/autotest/aircraft/Rascal/Rascal110-JSBSim.xml
Normal file
@ -0,0 +1,522 @@
|
||||
<?xml version="1.0"?>
|
||||
<?xml-stylesheet href="http://jsbsim.sourceforge.net/JSBSim.xsl" type="text/xsl"?>
|
||||
<fdm_config name="rascal" version="2.0" release="BETA"
|
||||
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
|
||||
xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
|
||||
|
||||
<fileheader>
|
||||
<author> Author Name </author>
|
||||
<filecreationdate> Creation Date </filecreationdate>
|
||||
<version> Version </version>
|
||||
<description> Models a rascal </description>
|
||||
</fileheader>
|
||||
|
||||
<metrics>
|
||||
<wingarea unit="FT2"> 10.57 </wingarea>
|
||||
<wingspan unit="FT"> 9.17 </wingspan>
|
||||
<chord unit="FT"> 1.15 </chord>
|
||||
<htailarea unit="FT2"> 1.69 </htailarea>
|
||||
<htailarm unit="FT"> 3.28 </htailarm>
|
||||
<vtailarea unit="FT2"> 1.06 </vtailarea>
|
||||
<vtailarm unit="FT"> 0 </vtailarm>
|
||||
<location name="AERORP" unit="IN">
|
||||
<x> 37.4 </x>
|
||||
<y> 0 </y>
|
||||
<z> 0 </z>
|
||||
</location>
|
||||
<location name="EYEPOINT" unit="IN">
|
||||
<x> 20 </x>
|
||||
<y> 0 </y>
|
||||
<z> 5 </z>
|
||||
</location>
|
||||
<location name="VRP" unit="IN">
|
||||
<x> 0 </x>
|
||||
<y> 0 </y>
|
||||
<z> 0 </z>
|
||||
</location>
|
||||
</metrics>
|
||||
|
||||
<mass_balance>
|
||||
<ixx unit="SLUG*FT2"> 1.95 </ixx>
|
||||
<iyy unit="SLUG*FT2"> 1.55 </iyy>
|
||||
<izz unit="SLUG*FT2"> 1.91 </izz>
|
||||
<ixy unit="SLUG*FT2"> 0 </ixy>
|
||||
<ixz unit="SLUG*FT2"> 0 </ixz>
|
||||
<iyz unit="SLUG*FT2"> 0 </iyz>
|
||||
<emptywt unit="LBS"> 13 </emptywt>
|
||||
<location name="CG" unit="IN">
|
||||
<x> 36.4 </x>
|
||||
<y> 0 </y>
|
||||
<z> 4 </z>
|
||||
</location>
|
||||
</mass_balance>
|
||||
|
||||
<ground_reactions>
|
||||
<contact type="BOGEY" name="LEFT_MLG">
|
||||
<location unit="IN">
|
||||
<x> 33.1 </x>
|
||||
<y> -9.9 </y>
|
||||
<z> -13.1 </z>
|
||||
</location>
|
||||
<static_friction> 0.8 </static_friction>
|
||||
<dynamic_friction> 0.5 </dynamic_friction>
|
||||
<rolling_friction> 0.02 </rolling_friction>
|
||||
<spring_coeff unit="LBS/FT"> 120 </spring_coeff>
|
||||
<damping_coeff unit="LBS/FT/SEC"> 20 </damping_coeff>
|
||||
<max_steer unit="DEG"> 0.0 </max_steer>
|
||||
<brake_group> LEFT </brake_group>
|
||||
<retractable>0</retractable>
|
||||
</contact>
|
||||
<contact type="BOGEY" name="RIGHT_MLG">
|
||||
<location unit="IN">
|
||||
<x> 33.1 </x>
|
||||
<y> 9.9 </y>
|
||||
<z> -13.1 </z>
|
||||
</location>
|
||||
<static_friction> 0.8 </static_friction>
|
||||
<dynamic_friction> 0.5 </dynamic_friction>
|
||||
<rolling_friction> 0.02 </rolling_friction>
|
||||
<spring_coeff unit="LBS/FT"> 120 </spring_coeff>
|
||||
<damping_coeff unit="LBS/FT/SEC"> 20 </damping_coeff>
|
||||
<max_steer unit="DEG"> 0.0 </max_steer>
|
||||
<brake_group> RIGHT </brake_group>
|
||||
<retractable>0</retractable>
|
||||
</contact>
|
||||
<contact type="BOGEY" name="TAIL_LG">
|
||||
<location unit="IN">
|
||||
<x> 68.9 </x>
|
||||
<y> 0 </y>
|
||||
<z> -6.6 </z>
|
||||
</location>
|
||||
<static_friction> 0.8 </static_friction>
|
||||
<dynamic_friction> 0.5 </dynamic_friction>
|
||||
<rolling_friction> 0.02 </rolling_friction>
|
||||
<spring_coeff unit="LBS/FT"> 24 </spring_coeff>
|
||||
<damping_coeff unit="LBS/FT/SEC"> 20 </damping_coeff>
|
||||
<max_steer unit="DEG"> 360.0 </max_steer>
|
||||
<brake_group> NONE </brake_group>
|
||||
<retractable>0</retractable>
|
||||
</contact>
|
||||
</ground_reactions>
|
||||
|
||||
<propulsion>
|
||||
<engine file="Zenoah_G-26A">
|
||||
<location unit="IN">
|
||||
<x> 36 </x>
|
||||
<y> 0 </y>
|
||||
<z> 0 </z>
|
||||
</location>
|
||||
<orient unit="DEG">
|
||||
<roll> 0.0 </roll>
|
||||
<pitch> 0 </pitch>
|
||||
<yaw> 0 </yaw>
|
||||
</orient>
|
||||
<feed>0</feed>
|
||||
<thruster file="18x8">
|
||||
<location unit="IN">
|
||||
<x> 1 </x>
|
||||
<y> 0 </y>
|
||||
<z> 0 </z>
|
||||
</location>
|
||||
<orient unit="DEG">
|
||||
<roll> 0.0 </roll>
|
||||
<pitch> 0.0 </pitch>
|
||||
<yaw> 0.0 </yaw>
|
||||
</orient>
|
||||
<p_factor>1.0</p_factor>
|
||||
</thruster>
|
||||
</engine>
|
||||
<tank type="FUEL"> <!-- Tank number 0 -->
|
||||
<location unit="IN">
|
||||
<x> 36.36 </x>
|
||||
<y> 0 </y>
|
||||
<z> -1.89375 </z>
|
||||
</location>
|
||||
<capacity unit="LBS"> 1.5 </capacity>
|
||||
<contents unit="LBS"> 1.5 </contents>
|
||||
</tank>
|
||||
</propulsion>
|
||||
|
||||
<flight_control name="FCS: rascal">
|
||||
<channel name="All">
|
||||
|
||||
<summer name="Pitch Trim Sum">
|
||||
<input>fcs/elevator-cmd-norm</input>
|
||||
<input>fcs/pitch-trim-cmd-norm</input>
|
||||
<clipto>
|
||||
<min>-1</min>
|
||||
<max>1</max>
|
||||
</clipto>
|
||||
</summer>
|
||||
|
||||
<aerosurface_scale name="Elevator Control">
|
||||
<input>fcs/pitch-trim-sum</input>
|
||||
<range>
|
||||
<min>-0.35</min>
|
||||
<max>0.3</max>
|
||||
</range>
|
||||
<output>fcs/elevator-pos-rad</output>
|
||||
</aerosurface_scale>
|
||||
|
||||
<aerosurface_scale name="Elevator Normalized">
|
||||
<input>fcs/elevator-pos-rad</input>
|
||||
<domain>
|
||||
<min>-0.3</min>
|
||||
<max> 0.3</max>
|
||||
</domain>
|
||||
<range>
|
||||
<min>-1</min>
|
||||
<max> 1</max>
|
||||
</range>
|
||||
<output>fcs/elevator-pos-norm</output>
|
||||
</aerosurface_scale>
|
||||
|
||||
<summer name="Roll Trim Sum">
|
||||
<input>fcs/aileron-cmd-norm</input>
|
||||
<input>fcs/roll-trim-cmd-norm</input>
|
||||
<clipto>
|
||||
<min>-1</min>
|
||||
<max>1</max>
|
||||
</clipto>
|
||||
</summer>
|
||||
|
||||
<aerosurface_scale name="Left Aileron Control">
|
||||
<input>fcs/roll-trim-sum</input>
|
||||
<range>
|
||||
<min>-0.35</min>
|
||||
<max>0.35</max>
|
||||
</range>
|
||||
<output>fcs/left-aileron-pos-rad</output>
|
||||
</aerosurface_scale>
|
||||
|
||||
<aerosurface_scale name="Right Aileron Control">
|
||||
<input>-fcs/roll-trim-sum</input>
|
||||
<range>
|
||||
<min>-0.35</min>
|
||||
<max>0.35</max>
|
||||
</range>
|
||||
<output>fcs/right-aileron-pos-rad</output>
|
||||
</aerosurface_scale>
|
||||
|
||||
<aerosurface_scale name="Left aileron Normalized">
|
||||
<input>fcs/left-aileron-pos-rad</input>
|
||||
<domain>
|
||||
<min>-0.35</min>
|
||||
<max> 0.35</max>
|
||||
</domain>
|
||||
<range>
|
||||
<min>-1</min>
|
||||
<max> 1</max>
|
||||
</range>
|
||||
<output>fcs/left-aileron-pos-norm</output>
|
||||
</aerosurface_scale>
|
||||
|
||||
<aerosurface_scale name="Right aileron Normalized">
|
||||
<input>fcs/right-aileron-pos-rad</input>
|
||||
<domain>
|
||||
<min>-0.35</min>
|
||||
<max> 0.35</max>
|
||||
</domain>
|
||||
<range>
|
||||
<min>-1</min>
|
||||
<max> 1</max>
|
||||
</range>
|
||||
<output>fcs/right-aileron-pos-norm</output>
|
||||
</aerosurface_scale>
|
||||
|
||||
<summer name="Rudder Command Sum">
|
||||
<input>fcs/rudder-cmd-norm</input>
|
||||
<input>fcs/yaw-trim-cmd-norm</input>
|
||||
<clipto>
|
||||
<min>-1</min>
|
||||
<max>1</max>
|
||||
</clipto>
|
||||
</summer>
|
||||
|
||||
<aerosurface_scale name="Rudder Control">
|
||||
<input>fcs/rudder-command-sum</input>
|
||||
<range>
|
||||
<min>-0.35</min>
|
||||
<max>0.35</max>
|
||||
</range>
|
||||
<output>fcs/rudder-pos-rad</output>
|
||||
</aerosurface_scale>
|
||||
|
||||
<aerosurface_scale name="Rudder Normalized">
|
||||
<input>fcs/rudder-pos-rad</input>
|
||||
<domain>
|
||||
<min>-0.35</min>
|
||||
<max> 0.35</max>
|
||||
</domain>
|
||||
<range>
|
||||
<min>-1</min>
|
||||
<max> 1</max>
|
||||
</range>
|
||||
<output>fcs/rudder-pos-norm</output>
|
||||
</aerosurface_scale>
|
||||
</channel>
|
||||
</flight_control>
|
||||
|
||||
<aerodynamics>
|
||||
<axis name="DRAG">
|
||||
<function name="aero/coefficient/CD0">
|
||||
<description>Drag_at_zero_lift</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<table>
|
||||
<independentVar>aero/alpha-rad</independentVar>
|
||||
<tableData>
|
||||
-1.5700 1.5000
|
||||
-0.2600 0.0560
|
||||
0.0000 0.0280
|
||||
0.2600 0.0560
|
||||
1.5700 1.5000
|
||||
</tableData>
|
||||
</table>
|
||||
</product>
|
||||
</function>
|
||||
<function name="aero/coefficient/CDi">
|
||||
<description>Induced_drag</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>aero/cl-squared</property>
|
||||
<value>0.0400</value>
|
||||
</product>
|
||||
</function>
|
||||
<function name="aero/coefficient/CDbeta">
|
||||
<description>Drag_due_to_sideslip</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<table>
|
||||
<independentVar>aero/beta-rad</independentVar>
|
||||
<tableData>
|
||||
-1.5700 1.2300
|
||||
-0.2600 0.0500
|
||||
0.0000 0.0000
|
||||
0.2600 0.0500
|
||||
1.5700 1.2300
|
||||
</tableData>
|
||||
</table>
|
||||
</product>
|
||||
</function>
|
||||
<function name="aero/coefficient/CDde">
|
||||
<description>Drag_due_to_Elevator_Deflection</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>fcs/elevator-pos-norm</property>
|
||||
<value>0.0300</value>
|
||||
</product>
|
||||
</function>
|
||||
</axis>
|
||||
|
||||
<axis name="SIDE">
|
||||
<function name="aero/coefficient/CYb">
|
||||
<description>Side_force_due_to_beta</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>aero/beta-rad</property>
|
||||
<value>-1.0000</value>
|
||||
</product>
|
||||
</function>
|
||||
</axis>
|
||||
|
||||
<axis name="LIFT">
|
||||
<function name="aero/coefficient/CLalpha">
|
||||
<description>Lift_due_to_alpha</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<table>
|
||||
<independentVar>aero/alpha-rad</independentVar>
|
||||
<tableData>
|
||||
-0.2000 -0.7500
|
||||
0.0000 0.2500
|
||||
0.2300 1.4000
|
||||
0.6000 0.7100
|
||||
</tableData>
|
||||
</table>
|
||||
</product>
|
||||
</function>
|
||||
<function name="aero/coefficient/CLde">
|
||||
<description>Lift_due_to_Elevator_Deflection</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>fcs/elevator-pos-rad</property>
|
||||
<value>0.2000</value>
|
||||
</product>
|
||||
</function>
|
||||
</axis>
|
||||
|
||||
<axis name="ROLL">
|
||||
<function name="aero/coefficient/Clb">
|
||||
<description>Roll_moment_due_to_beta</description>
|
||||
<!-- aka dihedral effect -->
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/bw-ft</property>
|
||||
<property>aero/beta-rad</property>
|
||||
<value>-0.1000</value>
|
||||
</product>
|
||||
</function>
|
||||
<function name="aero/coefficient/Clp">
|
||||
<description>Roll_moment_due_to_roll_rate</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/bw-ft</property>
|
||||
<property>aero/bi2vel</property>
|
||||
<property>velocities/p-aero-rad_sec</property>
|
||||
<value>-0.4000</value>
|
||||
</product>
|
||||
</function>
|
||||
<function name="aero/coefficient/Clr">
|
||||
<description>Roll_moment_due_to_yaw_rate</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/bw-ft</property>
|
||||
<property>aero/bi2vel</property>
|
||||
<property>velocities/r-aero-rad_sec</property>
|
||||
<value>0.1500</value>
|
||||
</product>
|
||||
</function>
|
||||
<function name="aero/coefficient/Clda">
|
||||
<description>Roll_moment_due_to_aileron</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/bw-ft</property>
|
||||
<property>fcs/left-aileron-pos-rad</property>
|
||||
<table>
|
||||
<independentVar>velocities/mach</independentVar>
|
||||
<tableData>
|
||||
0.0000 0.1300
|
||||
2.0000 0.0570
|
||||
</tableData>
|
||||
</table>
|
||||
</product>
|
||||
</function>
|
||||
<function name="aero/coefficient/Cldr">
|
||||
<description>Roll_moment_due_to_rudder</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/bw-ft</property>
|
||||
<property>fcs/rudder-pos-rad</property>
|
||||
<value>0.0100</value>
|
||||
</product>
|
||||
</function>
|
||||
</axis>
|
||||
|
||||
<axis name="PITCH">
|
||||
<function name="aero/coefficient/Cmalpha">
|
||||
<description>Pitch_moment_due_to_alpha</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/cbarw-ft</property>
|
||||
<property>aero/alpha-rad</property>
|
||||
<value>-0.5000</value>
|
||||
</product>
|
||||
</function>
|
||||
<function name="aero/coefficient/Cmde">
|
||||
<description>Pitch_moment_due_to_elevator</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/cbarw-ft</property>
|
||||
<property>fcs/elevator-pos-rad</property>
|
||||
<table>
|
||||
<independentVar>velocities/mach</independentVar>
|
||||
<tableData>
|
||||
0.0000 -0.5000 <!-- was -1.1 -->
|
||||
2.0000 -0.2750
|
||||
</tableData>
|
||||
</table>
|
||||
</product>
|
||||
</function>
|
||||
<function name="aero/coefficient/Cmq">
|
||||
<description>Pitch_moment_due_to_pitch_rate</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/cbarw-ft</property>
|
||||
<property>aero/ci2vel</property>
|
||||
<property>velocities/q-aero-rad_sec</property>
|
||||
<value>-12.0000</value>
|
||||
</product>
|
||||
</function>
|
||||
<function name="aero/coefficient/Cmadot">
|
||||
<description>Pitch_moment_due_to_alpha_rate</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/cbarw-ft</property>
|
||||
<property>aero/ci2vel</property>
|
||||
<property>aero/alphadot-rad_sec</property>
|
||||
<value>-7.0000</value>
|
||||
</product>
|
||||
</function>
|
||||
</axis>
|
||||
|
||||
<axis name="YAW">
|
||||
<function name="aero/coefficient/Cnb">
|
||||
<description>Yaw_moment_due_to_beta</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/bw-ft</property>
|
||||
<property>aero/beta-rad</property>
|
||||
<value>0.1200</value>
|
||||
</product>
|
||||
</function>
|
||||
<function name="aero/coefficient/Cnr">
|
||||
<description>Yaw_moment_due_to_yaw_rate</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/bw-ft</property>
|
||||
<property>aero/bi2vel</property>
|
||||
<property>velocities/r-aero-rad_sec</property>
|
||||
<value>-0.1500</value>
|
||||
</product>
|
||||
</function>
|
||||
<function name="aero/coefficient/Cndr">
|
||||
<description>Yaw_moment_due_to_rudder</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/bw-ft</property>
|
||||
<property>fcs/rudder-pos-rad</property>
|
||||
<value>-0.0500</value>
|
||||
</product>
|
||||
</function>
|
||||
<function name="aero/coefficient/Cnda">
|
||||
<description>Adverse_yaw</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/bw-ft</property>
|
||||
<property>fcs/left-aileron-pos-rad</property>
|
||||
<value>-0.0300</value>
|
||||
</product>
|
||||
</function>
|
||||
<function name="aero/coefficient/Cndi">
|
||||
<description>Yaw_moment_due_to_tail_incidence</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/bw-ft</property>
|
||||
<value>0.0007</value>
|
||||
</product>
|
||||
</function>
|
||||
</axis>
|
||||
</aerodynamics>
|
||||
</fdm_config>
|
||||
BIN
Tools/autotest/aircraft/Rascal/Rascal110-splash.rgb
Normal file
BIN
Tools/autotest/aircraft/Rascal/Rascal110-splash.rgb
Normal file
Binary file not shown.
767
Tools/autotest/aircraft/Rascal/Systems/110-autopilot.xml
Normal file
767
Tools/autotest/aircraft/Rascal/Systems/110-autopilot.xml
Normal file
@ -0,0 +1,767 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<!-- Generic Autopilot Configuration -->
|
||||
|
||||
<!-- Each component is evaluated in the order specified. You can make up -->
|
||||
<!-- property names to pass the result of one component on to a subsequent -->
|
||||
<!-- component. -->
|
||||
|
||||
|
||||
<PropertyList>
|
||||
|
||||
<!-- =============================================================== -->
|
||||
<!-- Roll Axis Modes -->
|
||||
<!-- =============================================================== -->
|
||||
|
||||
<!-- Wing leveler -->
|
||||
<pid-controller>
|
||||
<name>Wing Leveler (Turn Coordinator based)</name>
|
||||
<debug>false</debug>
|
||||
<enable>
|
||||
<prop>/autopilot/locks/heading</prop>
|
||||
<value>wing-leveler</value>
|
||||
</enable>
|
||||
<input>
|
||||
<prop>/orientation/roll-deg</prop>
|
||||
</input>
|
||||
<reference>
|
||||
<value>0.0</value>
|
||||
</reference>
|
||||
<output>
|
||||
<prop>/controls/flight/aileron</prop>
|
||||
</output>
|
||||
<config>
|
||||
<Kp>0.05</Kp> <!-- proportional gain -->
|
||||
<beta>1.0</beta> <!-- input value weighing factor -->
|
||||
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
||||
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
||||
<!-- unfiltered derivative error -->
|
||||
<Ti>0.5</Ti> <!-- integrator time -->
|
||||
<Td>0.01</Td> <!-- derivator time -->
|
||||
<u_min>-1.0</u_min> <!-- minimum output clamp -->
|
||||
<u_max>1.0</u_max> <!-- maximum output clamp -->
|
||||
</config>
|
||||
</pid-controller>
|
||||
|
||||
<!-- Bank hold -->
|
||||
<pid-controller>
|
||||
<name>Bank Hold</name>
|
||||
<debug>false</debug>
|
||||
<enable>
|
||||
<prop>/autopilot/locks/heading</prop>
|
||||
<value>bank-hold</value>
|
||||
</enable>
|
||||
<input>
|
||||
<prop>/orientation/roll-deg</prop>
|
||||
</input>
|
||||
<reference>
|
||||
<prop>/autopilot/settings/target-bank-deg</prop>
|
||||
</reference>
|
||||
<output>
|
||||
<prop>/controls/flight/aileron</prop>
|
||||
</output>
|
||||
<config>
|
||||
<Kp>0.05</Kp> <!-- proportional gain -->
|
||||
<beta>1.0</beta> <!-- input value weighing factor -->
|
||||
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
||||
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
||||
<!-- unfiltered derivative error -->
|
||||
<Ti>0.5</Ti> <!-- integrator time -->
|
||||
<Td>0.01</Td> <!-- derivator time -->
|
||||
<u_min>-1.0</u_min> <!-- minimum output clamp -->
|
||||
<u_max>1.0</u_max> <!-- maximum output clamp -->
|
||||
</config>
|
||||
</pid-controller>
|
||||
|
||||
<!-- Heading Bug Hold. 2 stage cascade controller. -->
|
||||
|
||||
<!-- Stage #1 sets target roll based on diff between current heading -->
|
||||
<!-- and heading bug. -->
|
||||
<pid-controller>
|
||||
<name>Heading Bug Hold (DG based) Stage 1</name>
|
||||
<debug>false</debug>
|
||||
<enable>
|
||||
<prop>/autopilot/locks/heading</prop>
|
||||
<value>dg-heading-hold</value>
|
||||
</enable>
|
||||
<input>
|
||||
<prop>/autopilot/internal/fdm-heading-bug-error-deg</prop>
|
||||
</input>
|
||||
<reference>
|
||||
<value>0.0</value>
|
||||
</reference>
|
||||
<output>
|
||||
<prop>/autopilot/internal/target-roll-deg</prop>
|
||||
</output>
|
||||
<config>
|
||||
<Kp>-0.1</Kp> <!-- proportional gain -->
|
||||
<beta>1.0</beta> <!-- input value weighing factor -->
|
||||
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
||||
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
||||
<!-- unfiltered derivative error -->
|
||||
<Ti>10.0</Ti> <!-- integrator time -->
|
||||
<Td>0.00001</Td> <!-- derivator time -->
|
||||
<u_min>-20.0</u_min> <!-- minimum output clamp -->
|
||||
<u_max>20.0</u_max> <!-- maximum output clamp -->
|
||||
</config>
|
||||
</pid-controller>
|
||||
|
||||
<!-- Stage #2 drives the ailerons to achieve the desired roll deg. -->
|
||||
<pid-controller>
|
||||
<name>Heading Bug Hold (DG based) Stage 2</name>
|
||||
<debug>false</debug>
|
||||
<enable>
|
||||
<prop>/autopilot/locks/heading</prop>
|
||||
<value>dg-heading-hold</value>
|
||||
</enable>
|
||||
<input>
|
||||
<prop>/orientation/roll-deg</prop>
|
||||
</input>
|
||||
<reference>
|
||||
<prop>/autopilot/internal/target-roll-deg</prop>
|
||||
</reference>
|
||||
<output>
|
||||
<prop>/controls/flight/aileron</prop>
|
||||
</output>
|
||||
<config>
|
||||
<Kp>0.05</Kp> <!-- proportional gain -->
|
||||
<beta>1.0</beta> <!-- input value weighing factor -->
|
||||
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
||||
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
||||
<!-- unfiltered derivative error -->
|
||||
<Ti>0.5</Ti> <!-- integrator time -->
|
||||
<Td>0.01</Td> <!-- derivator time -->
|
||||
<u_min>-1.0</u_min> <!-- minimum output clamp -->
|
||||
<u_max>1.0</u_max> <!-- maximum output clamp -->
|
||||
</config>
|
||||
</pid-controller>
|
||||
|
||||
<!-- True Heading hold. 2 stage cascade controller. -->
|
||||
|
||||
<!-- Stage #1 sets target roll based on diff between current heading -->
|
||||
<!-- and target heading. -->
|
||||
<pid-controller>
|
||||
<name>True Heading Hold (DG based) Stage 1</name>
|
||||
<debug>false</debug>
|
||||
<enable>
|
||||
<prop>/autopilot/locks/heading</prop>
|
||||
<value>true-heading-hold</value>
|
||||
</enable>
|
||||
<input>
|
||||
<prop>/autopilot/internal/true-heading-error-deg</prop>
|
||||
</input>
|
||||
<reference>
|
||||
<value>0.0</value>
|
||||
</reference>
|
||||
<output>
|
||||
<prop>/autopilot/internal/target-roll-deg</prop>
|
||||
</output>
|
||||
<config>
|
||||
<Kp>-1.0</Kp> <!-- proportional gain -->
|
||||
<beta>1.0</beta> <!-- input value weighing factor -->
|
||||
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
||||
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
||||
<!-- unfiltered derivative error -->
|
||||
<Ti>10.0</Ti> <!-- integrator time -->
|
||||
<Td>0.00001</Td> <!-- derivator time -->
|
||||
<u_min>-20.0</u_min> <!-- minimum output clamp -->
|
||||
<u_max>20.0</u_max> <!-- maximum output clamp -->
|
||||
</config>
|
||||
</pid-controller>
|
||||
|
||||
<!-- Stage #2 drives the ailerons to achieve the desired roll deg. -->
|
||||
<pid-controller>
|
||||
<name>True Heading Hold (DG based) Stage 2</name>
|
||||
<debug>false</debug>
|
||||
<enable>
|
||||
<prop>/autopilot/locks/heading</prop>
|
||||
<value>true-heading-hold</value>
|
||||
</enable>
|
||||
<input>
|
||||
<prop>/orientation/roll-deg</prop>
|
||||
</input>
|
||||
<reference>
|
||||
<prop>/autopilot/internal/target-roll-deg</prop>
|
||||
</reference>
|
||||
<output>
|
||||
<prop>/controls/flight/aileron</prop>
|
||||
</output>
|
||||
<config>
|
||||
<Kp>0.05</Kp> <!-- proportional gain -->
|
||||
<beta>1.0</beta> <!-- input value weighing factor -->
|
||||
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
||||
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
||||
<!-- unfiltered derivative error -->
|
||||
<Ti>0.5</Ti> <!-- integrator time -->
|
||||
<Td>0.01</Td> <!-- derivator time -->
|
||||
<u_min>-1.0</u_min> <!-- minimum output clamp -->
|
||||
<u_max>1.0</u_max> <!-- maximum output clamp -->
|
||||
</config>
|
||||
</pid-controller>
|
||||
|
||||
<!-- Nav1 hold. 2 stage cascade controller. -->
|
||||
|
||||
<!-- Stage #1 sets target roll based on diff between current heading -->
|
||||
<!-- and target heading. -->
|
||||
<pid-controller>
|
||||
<name>Nav1 Hold Stage 1</name>
|
||||
<debug>false</debug>
|
||||
<enable>
|
||||
<prop>/autopilot/locks/heading</prop>
|
||||
<value>nav1-hold</value>
|
||||
</enable>
|
||||
<input>
|
||||
<prop>/autopilot/internal/nav1-heading-error-deg</prop>
|
||||
</input>
|
||||
<reference>
|
||||
<value>0.0</value>
|
||||
</reference>
|
||||
<output>
|
||||
<prop>/autopilot/internal/target-roll-deg</prop>
|
||||
</output>
|
||||
<config>
|
||||
<Kp>-1.0</Kp> <!-- proportional gain -->
|
||||
<beta>1.0</beta> <!-- input value weighing factor -->
|
||||
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
||||
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
||||
<!-- unfiltered derivative error -->
|
||||
<Ti>10.0</Ti> <!-- integrator time -->
|
||||
<Td>0.00001</Td> <!-- derivator time -->
|
||||
<u_min>-20.0</u_min> <!-- minimum output clamp -->
|
||||
<u_max>20.0</u_max> <!-- maximum output clamp -->
|
||||
</config>
|
||||
</pid-controller>
|
||||
|
||||
<!-- Stage #2 drives the ailerons to achieve the desired roll deg. -->
|
||||
<pid-controller>
|
||||
<name>Nav1 Hold Stage 2</name>
|
||||
<debug>false</debug>
|
||||
<enable>
|
||||
<prop>/autopilot/locks/heading</prop>
|
||||
<value>nav1-hold</value>
|
||||
</enable>
|
||||
<input>
|
||||
<prop>/orientation/roll-deg</prop>
|
||||
</input>
|
||||
<reference>
|
||||
<prop>/autopilot/internal/target-roll-deg</prop>
|
||||
</reference>
|
||||
<output>
|
||||
<prop>/controls/flight/aileron</prop>
|
||||
</output>
|
||||
<config>
|
||||
<Kp>0.05</Kp> <!-- proportional gain -->
|
||||
<beta>1.0</beta> <!-- input value weighing factor -->
|
||||
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
||||
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
||||
<!-- unfiltered derivative error -->
|
||||
<Ti>0.5</Ti> <!-- integrator time -->
|
||||
<Td>0.01</Td> <!-- derivator time -->
|
||||
<u_min>-1.0</u_min> <!-- minimum output clamp -->
|
||||
<u_max>1.0</u_max> <!-- maximum output clamp -->
|
||||
</config>
|
||||
</pid-controller>
|
||||
|
||||
|
||||
<!-- =============================================================== -->
|
||||
<!-- Pitch Axis Modes -->
|
||||
<!-- =============================================================== -->
|
||||
|
||||
<!-- Simple pitch hold -->
|
||||
<pid-controller>
|
||||
<name>Pitch hold</name>
|
||||
<debug>false</debug>
|
||||
<enable>
|
||||
<prop>/autopilot/locks/altitude</prop>
|
||||
<value>pitch-hold</value>
|
||||
</enable>
|
||||
<input>
|
||||
<prop>/orientation/pitch-deg</prop>
|
||||
</input>
|
||||
<reference>
|
||||
<prop>/autopilot/settings/target-pitch-deg</prop>
|
||||
</reference>
|
||||
<output>
|
||||
<prop>/controls/flight/elevator-trim</prop>
|
||||
</output>
|
||||
<config>
|
||||
<Kp>-0.05</Kp> <!-- proportional gain -->
|
||||
<beta>1.0</beta> <!-- input value weighing factor -->
|
||||
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
||||
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
||||
<!-- unfiltered derivative error -->
|
||||
<Ti>0.5</Ti> <!-- integrator time -->
|
||||
<Td>0.001</Td> <!-- derivator time -->
|
||||
<u_min>-1.0</u_min> <!-- minimum output clamp -->
|
||||
<u_max>1.0</u_max> <!-- maximum output clamp -->
|
||||
</config>
|
||||
</pid-controller>
|
||||
|
||||
<!-- Simple pitch hold with yoke -->
|
||||
<pid-controller>
|
||||
<name>Pitch hold w/ yoke</name>
|
||||
<debug>false</debug>
|
||||
<enable>
|
||||
<prop>/autopilot/locks/altitude</prop>
|
||||
<value>pitch-hold-yoke</value>
|
||||
</enable>
|
||||
<input>
|
||||
<prop>/orientation/pitch-deg</prop>
|
||||
</input>
|
||||
<reference>
|
||||
<prop>/autopilot/settings/target-pitch-deg</prop>
|
||||
</reference>
|
||||
<output>
|
||||
<prop>/controls/flight/elevator</prop>
|
||||
</output>
|
||||
<config>
|
||||
<Kp>-0.05</Kp> <!-- proportional gain -->
|
||||
<beta>1.0</beta> <!-- input value weighing factor -->
|
||||
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
||||
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
||||
<!-- unfiltered derivative error -->
|
||||
<Ti>0.5</Ti> <!-- integrator time -->
|
||||
<Td>0.001</Td> <!-- derivator time -->
|
||||
<u_min>-1.0</u_min> <!-- minimum output clamp -->
|
||||
<u_max>1.0</u_max> <!-- maximum output clamp -->
|
||||
</config>
|
||||
</pid-controller>
|
||||
|
||||
<!-- Simple angle of attack hold -->
|
||||
<pid-controller>
|
||||
<name>AOA hold</name>
|
||||
<debug>false</debug>
|
||||
<enable>
|
||||
<prop>/autopilot/locks/altitude</prop>
|
||||
<value>aoa-hold</value>
|
||||
</enable>
|
||||
<input>
|
||||
<prop>/orientation/alpha-deg</prop>
|
||||
</input>
|
||||
<reference>
|
||||
<prop>/autopilot/settings/target-aoa-deg</prop>
|
||||
</reference>
|
||||
<output>
|
||||
<prop>/controls/flight/elevator-trim</prop>
|
||||
</output>
|
||||
<config>
|
||||
<Kp>-0.05</Kp> <!-- proportional gain -->
|
||||
<beta>1.0</beta> <!-- input value weighing factor -->
|
||||
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
||||
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
||||
<!-- unfiltered derivative error -->
|
||||
<Ti>0.5</Ti> <!-- integrator time -->
|
||||
<Td>0.001</Td> <!-- derivator time -->
|
||||
<u_min>-1.0</u_min> <!-- minimum output clamp -->
|
||||
<u_max>1.0</u_max> <!-- maximum output clamp -->
|
||||
</config>
|
||||
</pid-controller>
|
||||
|
||||
<!-- Altitude hold. 3 stage cascade controller. -->
|
||||
|
||||
<!-- Stage #1 sets target rate of climb based on diff between current alt -->
|
||||
<!-- and target altitude. -->
|
||||
<pi-simple-controller>
|
||||
<name>Altitude Hold (Altimeter based) Stage 1</name>
|
||||
<debug>false</debug>
|
||||
<enable>
|
||||
<prop>/autopilot/locks/altitude</prop>
|
||||
<value>altitude-hold</value>
|
||||
</enable>
|
||||
<input>
|
||||
<prop>/position/altitude-ft</prop>
|
||||
</input>
|
||||
<reference>
|
||||
<prop>/autopilot/settings/target-altitude-ft</prop>
|
||||
</reference>
|
||||
<output>
|
||||
<prop>/autopilot/internal/target-climb-rate-fps</prop>
|
||||
</output>
|
||||
<config>
|
||||
<Kp>0.3</Kp> <!-- proportional gain -->
|
||||
<Ki>0.0</Ki> <!-- integral gain -->
|
||||
<u_min>-8.33</u_min> <!-- minimum output clamp -->
|
||||
<u_max>8.33</u_max> <!-- maximum output clamp -->
|
||||
</config>
|
||||
</pi-simple-controller>
|
||||
|
||||
<!-- Stage #2 drives the target-pitch to achieve the desired climb -->
|
||||
<!-- rate. -->
|
||||
<pid-controller>
|
||||
<name>Altitude Hold (Altimeter based) Stage 2</name>
|
||||
<debug>false</debug>
|
||||
<enable>
|
||||
<prop>/autopilot/locks/altitude</prop>
|
||||
<value>altitude-hold</value>
|
||||
</enable>
|
||||
<input>
|
||||
<prop>/velocities/vertical-speed-fps</prop>
|
||||
</input>
|
||||
<reference>
|
||||
<prop>/autopilot/internal/target-climb-rate-fps</prop>
|
||||
</reference>
|
||||
<output>
|
||||
<prop>/autopilot/settings/target-pitch-deg</prop>
|
||||
</output>
|
||||
<config>
|
||||
<Kp>0.5</Kp> <!-- proportional gain -->
|
||||
<beta>1.0</beta> <!-- input value weighing factor -->
|
||||
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
||||
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
||||
<!-- unfiltered derivative error -->
|
||||
<Ti>1.0</Ti> <!-- integrator time -->
|
||||
<Td>0.00001</Td> <!-- derivator time -->
|
||||
<u_min>-5.0</u_min> <!-- minimum output clamp -->
|
||||
<u_max>5.0</u_max> <!-- maximum output clamp -->
|
||||
</config>
|
||||
</pid-controller>
|
||||
|
||||
<!-- Stage #3 drives the elevator trim to achieve the desired pitch -->
|
||||
<!-- angle -->
|
||||
<pid-controller>
|
||||
<name>Pitch hold</name>
|
||||
<debug>false</debug>
|
||||
<enable>
|
||||
<prop>/autopilot/locks/altitude</prop>
|
||||
<value>altitude-hold</value>
|
||||
<honor-passive>true</honor-passive>
|
||||
</enable>
|
||||
<input>
|
||||
<prop>/orientation/pitch-deg</prop>
|
||||
</input>
|
||||
<reference>
|
||||
<prop>/autopilot/settings/target-pitch-deg</prop>
|
||||
</reference>
|
||||
<output>
|
||||
<prop>/controls/flight/elevator-trim</prop>
|
||||
</output>
|
||||
<config>
|
||||
<Kp>-0.05</Kp> <!-- proportional gain -->
|
||||
<beta>1.0</beta> <!-- input value weighing factor -->
|
||||
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
||||
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
||||
<!-- unfiltered derivative error -->
|
||||
<Ti>0.5</Ti> <!-- integrator time -->
|
||||
<Td>0.001</Td> <!-- derivator time -->
|
||||
<u_min>-1.0</u_min> <!-- minimum output clamp -->
|
||||
<u_max>1.0</u_max> <!-- maximum output clamp -->
|
||||
</config>
|
||||
</pid-controller>
|
||||
|
||||
|
||||
<!-- AGL hold. 2 stage cascade controller. -->
|
||||
|
||||
<!-- Stage #1 sets target rate of climb based on diff between current agl -->
|
||||
<!-- and target agl. -->
|
||||
<pid-controller>
|
||||
<name>AGL Hold (Altimeter based) Stage 1</name>
|
||||
<debug>false</debug>
|
||||
<enable>
|
||||
<prop>/autopilot/locks/altitude</prop>
|
||||
<value>agl-hold</value>
|
||||
</enable>
|
||||
<input>
|
||||
<prop>/position/altitude-agl-ft</prop>
|
||||
</input>
|
||||
<reference>
|
||||
<prop>/autopilot/settings/target-agl-ft</prop>
|
||||
</reference>
|
||||
<output>
|
||||
<prop>/autopilot/internal/target-climb-rate-fps</prop>
|
||||
</output>
|
||||
<config>
|
||||
<Kp>1.0</Kp> <!-- proportional gain -->
|
||||
<beta>1.0</beta> <!-- input value weighing factor -->
|
||||
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
||||
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
||||
<!-- unfiltered derivative error -->
|
||||
<Ti>25.0</Ti> <!-- integrator time -->
|
||||
<Td>0.000000001</Td> <!-- derivator time -->
|
||||
<u_min>-16.67</u_min> <!-- minimum output clamp -->
|
||||
<u_max>8.33</u_max> <!-- maximum output clamp -->
|
||||
</config>
|
||||
</pid-controller>
|
||||
|
||||
<!-- Stage #2 drives the elevator-trim to achieve the desired climb rate. -->
|
||||
<pid-controller>
|
||||
<name>Altitude Hold (Altimeter based) Stage 2</name>
|
||||
<debug>false</debug>
|
||||
<enable>
|
||||
<prop>/autopilot/locks/altitude</prop>
|
||||
<value>agl-hold</value>
|
||||
</enable>
|
||||
<input>
|
||||
<prop>/velocities/vertical-speed-fps</prop>
|
||||
</input>
|
||||
<reference>
|
||||
<prop>/autopilot/internal/target-climb-rate-fps</prop>
|
||||
</reference>
|
||||
<output>
|
||||
<prop>/controls/flight/elevator-trim</prop>
|
||||
</output>
|
||||
<config>
|
||||
<Kp>-0.05</Kp> <!-- proportional gain -->
|
||||
<beta>1.0</beta> <!-- input value weighing factor -->
|
||||
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
||||
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
||||
<!-- unfiltered derivative error -->
|
||||
<Ti>0.5</Ti> <!-- integrator time -->
|
||||
<Td>0.001</Td> <!-- derivator time -->
|
||||
<u_min>-1.0</u_min> <!-- minimum output clamp -->
|
||||
<u_max>1.0</u_max> <!-- maximum output clamp -->
|
||||
</config>
|
||||
</pid-controller>
|
||||
|
||||
<!-- Glideslope hold. -->
|
||||
|
||||
<!-- Stage #2 drives the elevator-trim to achieve the desired climb rate. -->
|
||||
<pid-controller>
|
||||
<name>Glideslop Hold</name>
|
||||
<debug>false</debug>
|
||||
<enable>
|
||||
<prop>/autopilot/locks/altitude</prop>
|
||||
<value>gs1-hold</value>
|
||||
</enable>
|
||||
<input>
|
||||
<prop>/velocities/vertical-speed-fps</prop>
|
||||
</input>
|
||||
<reference>
|
||||
<prop>/instrumentation/nav[0]/gs-rate-of-climb</prop>
|
||||
</reference>
|
||||
<output>
|
||||
<prop>/controls/flight/elevator-trim</prop>
|
||||
</output>
|
||||
<config>
|
||||
<Kp>-0.05</Kp> <!-- proportional gain -->
|
||||
<beta>1.0</beta> <!-- input value weighing factor -->
|
||||
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
||||
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
||||
<!-- unfiltered derivative error -->
|
||||
<Ti>0.5</Ti> <!-- integrator time -->
|
||||
<Td>0.001</Td> <!-- derivator time -->
|
||||
<u_min>-1.0</u_min> <!-- minimum output clamp -->
|
||||
<u_max>1.0</u_max> <!-- maximum output clamp -->
|
||||
</config>
|
||||
</pid-controller>
|
||||
|
||||
|
||||
<!-- =============================================================== -->
|
||||
<!-- Velocity Modes -->
|
||||
<!-- =============================================================== -->
|
||||
|
||||
<!-- Auto throttle -->
|
||||
<pid-controller>
|
||||
<name>Auto Throttle (5 sec lookahead)</name>
|
||||
<debug>false</debug>
|
||||
<enable>
|
||||
<prop>/autopilot/locks/speed</prop>
|
||||
<value>speed-with-throttle</value>
|
||||
</enable>
|
||||
<input>
|
||||
<!-- <prop>/autopilot/internal/lookahead-5-sec-airspeed-kt</prop> -->
|
||||
<prop>/velocities/airspeed-kt</prop>
|
||||
</input>
|
||||
<reference>
|
||||
<prop>/autopilot/settings/target-speed-kt</prop>
|
||||
</reference>
|
||||
<output>
|
||||
<prop>/controls/engines/engine[0]/throttle</prop>
|
||||
<prop>/controls/engines/engine[1]/throttle</prop>
|
||||
<prop>/controls/engines/engine[2]/throttle</prop>
|
||||
<prop>/controls/engines/engine[3]/throttle</prop>
|
||||
<prop>/controls/engines/engine[4]/throttle</prop>
|
||||
<prop>/controls/engines/engine[5]/throttle</prop>
|
||||
<prop>/controls/engines/engine[6]/throttle</prop>
|
||||
<prop>/controls/engines/engine[7]/throttle</prop>
|
||||
</output>
|
||||
<config>
|
||||
<Kp>0.1</Kp> <!-- proportional gain -->
|
||||
<beta>1.0</beta> <!-- input value weighing factor -->
|
||||
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
||||
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
||||
<!-- unfiltered derivative error -->
|
||||
<Ti>1.0</Ti> <!-- integrator time -->
|
||||
<Td>0.001</Td> <!-- derivator time -->
|
||||
<u_min>0.0</u_min> <!-- minimum output clamp -->
|
||||
<u_max>1.0</u_max> <!-- maximum output clamp -->
|
||||
</config>
|
||||
</pid-controller>
|
||||
|
||||
<!-- Hold speed by varying pitch trim (Two stage cascading controller) -->
|
||||
<pid-controller>
|
||||
<name>Speed hold (vary pitch trim) Stage #1</name>
|
||||
<debug>false</debug>
|
||||
<enable>
|
||||
<prop>/autopilot/locks/speed</prop>
|
||||
<value>speed-with-pitch-trim</value>
|
||||
</enable>
|
||||
<input>
|
||||
<!-- <prop>/autopilot/internal/lookahead-5-sec-airspeed-kt</prop> -->
|
||||
<prop>/velocities/airspeed-kt</prop>
|
||||
</input>
|
||||
<reference>
|
||||
<prop>/autopilot/settings/target-speed-kt</prop>
|
||||
</reference>
|
||||
<output>
|
||||
<prop>/autopilot/settings/target-pitch-deg</prop>
|
||||
</output>
|
||||
<config>
|
||||
<Kp>-1.0</Kp> <!-- proportional gain -->
|
||||
<beta>1.0</beta> <!-- input value weighing factor -->
|
||||
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
||||
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
||||
<!-- unfiltered derivative error -->
|
||||
<Ti>2.0</Ti> <!-- integrator time -->
|
||||
<Td>0.00001</Td> <!-- derivator time -->
|
||||
<u_min>-15.0</u_min><!-- minimum output clamp -->
|
||||
<u_max>15.0</u_max> <!-- maximum output clamp -->
|
||||
</config>
|
||||
</pid-controller>
|
||||
|
||||
<pid-controller>
|
||||
<name>Speed hold (vary pitch trim) Stage #2</name>
|
||||
<debug>false</debug>
|
||||
<enable>
|
||||
<prop>/autopilot/locks/speed</prop>
|
||||
<value>speed-with-pitch-trim</value>
|
||||
</enable>
|
||||
<input>
|
||||
<prop>/orientation/pitch-deg</prop>
|
||||
</input>
|
||||
<reference>
|
||||
<prop>/autopilot/settings/target-pitch-deg</prop>
|
||||
</reference>
|
||||
<output>
|
||||
<prop>/controls/flight/elevator-trim</prop>
|
||||
</output>
|
||||
<config>
|
||||
<Kp>-0.05</Kp> <!-- proportional gain -->
|
||||
<beta>1.0</beta> <!-- input value weighing factor -->
|
||||
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
||||
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
||||
<!-- unfiltered derivative error -->
|
||||
<Ti>0.5</Ti> <!-- integrator time -->
|
||||
<Td>0.001</Td> <!-- derivator time -->
|
||||
<u_min>-1.0</u_min> <!-- minimum output clamp -->
|
||||
<u_max>1.0</u_max> <!-- maximum output clamp -->
|
||||
</config>
|
||||
</pid-controller>
|
||||
|
||||
<!-- Hold speed by varying elevator (2 stage cascading controller)-->
|
||||
|
||||
<!-- Stage 1, command a forward acceleration rate based on velocity error -->
|
||||
<pi-simple-controller>
|
||||
<name>Speed hold (vary elevator)</name>
|
||||
<debug>false</debug>
|
||||
<enable>
|
||||
<prop>/autopilot/locks/speed</prop>
|
||||
<value>speed-with-pitch-yoke</value>
|
||||
</enable>
|
||||
<input>
|
||||
<prop>/velocities/airspeed-kt</prop>
|
||||
</input>
|
||||
<reference>
|
||||
<prop>/autopilot/settings/target-speed-kt</prop>
|
||||
</reference>
|
||||
<output>
|
||||
<prop>/autopilot/settings/target-accel-ktps</prop>
|
||||
</output>
|
||||
<config>
|
||||
<Kp>0.2</Kp> <!-- proportional gain -->
|
||||
<Ki>0.0</Ki> <!-- integral gain -->
|
||||
<u_min>-1.0</u_min> <!-- minimum output clamp -->
|
||||
<u_max>1.0</u_max> <!-- maximum output clamp -->
|
||||
</config>
|
||||
</pi-simple-controller>
|
||||
|
||||
<!-- Stage 2, command elevator to achieve target acceleration rate -->
|
||||
<pid-controller>
|
||||
<name>Speed hold (vary elevator)</name>
|
||||
<debug>false</debug>
|
||||
<enable>
|
||||
<prop>/autopilot/locks/speed</prop>
|
||||
<value>speed-with-pitch-yoke</value>
|
||||
</enable>
|
||||
<input>
|
||||
<prop>/accelerations/airspeed-ktps</prop>
|
||||
</input>
|
||||
<reference>
|
||||
<prop>//autopilot/settings/target-accel-ktps</prop>
|
||||
</reference>
|
||||
<output>
|
||||
<prop>/controls/flight/elevator</prop>
|
||||
</output>
|
||||
<config>
|
||||
<Kp>0.02</Kp> <!-- proportional gain -->
|
||||
<beta>1.0</beta> <!-- input value weighing factor -->
|
||||
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
||||
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
||||
<!-- unfiltered derivative error -->
|
||||
<Ti>8.0</Ti> <!-- integrator time -->
|
||||
<Td>0.001</Td> <!-- derivator time -->
|
||||
<u_min>-0.25</u_min> <!-- minimum output clamp -->
|
||||
<u_max>0.25</u_max> <!-- maximum output clamp -->
|
||||
</config>
|
||||
</pid-controller>
|
||||
|
||||
<!-- Hold speed by varying pitch via yoke (Two stage cascading controller) -->
|
||||
<pid-controller>
|
||||
<name>Speed hold (vary pitch via yoke) Stage #1</name>
|
||||
<debug>false</debug>
|
||||
<enable>
|
||||
<prop>/autopilot/locks/speed</prop>
|
||||
<value>speed-with-pitch-yoke-pitch</value>
|
||||
</enable>
|
||||
<input>
|
||||
<!-- <prop>/autopilot/internal/lookahead-5-sec-airspeed-kt</prop> -->
|
||||
<prop>/velocities/airspeed-kt</prop>
|
||||
</input>
|
||||
<reference>
|
||||
<prop>/autopilot/settings/target-speed-kt</prop>
|
||||
</reference>
|
||||
<output>
|
||||
<prop>/autopilot/settings/target-pitch-deg</prop>
|
||||
</output>
|
||||
<config>
|
||||
<Kp>-1.0</Kp> <!-- proportional gain -->
|
||||
<beta>1.0</beta> <!-- input value weighing factor -->
|
||||
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
||||
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
||||
<!-- unfiltered derivative error -->
|
||||
<Ti>2.0</Ti> <!-- integrator time -->
|
||||
<Td>0.00001</Td> <!-- derivator time -->
|
||||
<u_min>-15.0</u_min><!-- minimum output clamp -->
|
||||
<u_max>15.0</u_max> <!-- maximum output clamp -->
|
||||
</config>
|
||||
</pid-controller>
|
||||
|
||||
<pid-controller>
|
||||
<name>Speed hold (vary pitch via yoke) Stage #2</name>
|
||||
<debug>false</debug>
|
||||
<enable>
|
||||
<prop>/autopilot/locks/speed</prop>
|
||||
<value>speed-with-pitch-yoke-pitch</value>
|
||||
</enable>
|
||||
<input>
|
||||
<prop>/orientation/pitch-deg</prop>
|
||||
</input>
|
||||
<reference>
|
||||
<prop>/autopilot/settings/target-pitch-deg</prop>
|
||||
</reference>
|
||||
<output>
|
||||
<prop>/controls/flight/elevator</prop>
|
||||
</output>
|
||||
<config>
|
||||
<Kp>-0.05</Kp> <!-- proportional gain -->
|
||||
<beta>1.0</beta> <!-- input value weighing factor -->
|
||||
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
|
||||
<gamma>0.0</gamma> <!-- input value weighing factor for -->
|
||||
<!-- unfiltered derivative error -->
|
||||
<Ti>0.5</Ti> <!-- integrator time -->
|
||||
<Td>0.001</Td> <!-- derivator time -->
|
||||
<u_min>-1.0</u_min> <!-- minimum output clamp -->
|
||||
<u_max>1.0</u_max> <!-- maximum output clamp -->
|
||||
</config>
|
||||
</pid-controller>
|
||||
|
||||
</PropertyList>
|
||||
40
Tools/autotest/aircraft/Rascal/Systems/airdata.nas
Normal file
40
Tools/autotest/aircraft/Rascal/Systems/airdata.nas
Normal file
@ -0,0 +1,40 @@
|
||||
var last_time = 0.0;
|
||||
var last_speed = 0.0;
|
||||
var speed_sensed = 0.0;
|
||||
var sensor_step = 1.0;
|
||||
var speed_filt = 0.0;
|
||||
var accel_filt = 0.0;
|
||||
|
||||
var compute_airspeed_accel = func( speed_filt, dt ) {
|
||||
# print ( "computing forward acceleration ", dt );
|
||||
|
||||
var delta_speed = speed_filt - last_speed;
|
||||
last_speed = speed_filt;
|
||||
|
||||
var accel = delta_speed / dt;
|
||||
|
||||
return accel;
|
||||
}
|
||||
|
||||
|
||||
var update_airdata = func( dt ) {
|
||||
# crude model of a noisy electronic pitot tube
|
||||
sensed_speed = getprop("/velocities/airspeed-kt");
|
||||
var r = rand();
|
||||
if ( r < 0.3333 ) {
|
||||
sensed_speed = sensed_speed - sensor_step;
|
||||
} elsif ( r > 0.6666 ) {
|
||||
sensed_speed = sensed_speed + sensor_step;
|
||||
}
|
||||
|
||||
speed_filt = 0.97 * speed_filt + 0.03 * sensed_speed;
|
||||
|
||||
var sensed_accel = 0.0;
|
||||
if ( dt > 0 ) {
|
||||
sensed_accel = compute_airspeed_accel( speed_filt, dt );
|
||||
}
|
||||
|
||||
accel_filt = 0.97 * accel_filt + 0.03 * sensed_accel;
|
||||
|
||||
setprop("/accelerations/airspeed-ktps", accel_filt);
|
||||
}
|
||||
140
Tools/autotest/aircraft/Rascal/Systems/electrical.xml
Normal file
140
Tools/autotest/aircraft/Rascal/Systems/electrical.xml
Normal file
@ -0,0 +1,140 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<!-- The cub doesn't really have an electrical system but let's give -->
|
||||
<!-- it a little bit of something since we don't have a virtual ground -->
|
||||
<!-- crew to go out and flip the prop for us. -->
|
||||
|
||||
<PropertyList>
|
||||
|
||||
<!-- Supplier list -->
|
||||
|
||||
<supplier>
|
||||
<name>Battery 1</name>
|
||||
<prop>/systems/electrical/suppliers/battery[0]</prop>
|
||||
<kind>battery</kind>
|
||||
<volts>28</volts> <!-- needs to be > 24.5, but this is a guess -->
|
||||
<amps>60</amps> <!-- I have no idea! -->
|
||||
</supplier>
|
||||
|
||||
<supplier>
|
||||
<name>Alternator 1</name>
|
||||
<prop>/systems/electrical/suppliers/alternator[0]</prop>
|
||||
<kind>alternator</kind>
|
||||
<rpm-source>/engines/engine[0]/rpm</rpm-source>
|
||||
<volts>28</volts> <!-- stubbed in -->
|
||||
<amps>60</amps> <!-- from the 172S Skyhawk Information Manual -->
|
||||
</supplier>
|
||||
|
||||
<!-- Bus list -->
|
||||
|
||||
<bus>
|
||||
<name>Master Bus</name>
|
||||
<prop>/systems/electrical/outputs/bus[0]</prop>
|
||||
<prop>/systems/electrical/outputs/transponder</prop>
|
||||
</bus>
|
||||
|
||||
<!-- Generic Outputs -->
|
||||
|
||||
<output>
|
||||
<name>Starter 1 Power</name>
|
||||
<prop>/systems/electrical/outputs/starter[0]</prop>
|
||||
</output>
|
||||
|
||||
<output>
|
||||
<name>Landing Light Power</name>
|
||||
<prop>/systems/electrical/outputs/landing-light</prop>
|
||||
</output>
|
||||
|
||||
<output>
|
||||
<name>Beacon Power</name>
|
||||
<prop>/systems/electrical/outputs/beacon</prop>
|
||||
</output>
|
||||
|
||||
<output>
|
||||
<name>Strobe Lights Power</name>
|
||||
<prop>/systems/electrical/outputs/strobe-lights</prop>
|
||||
</output>
|
||||
|
||||
<output>
|
||||
<name>Taxi Lights Power</name>
|
||||
<prop>/systems/electrical/outputs/taxi-lights</prop>
|
||||
</output>
|
||||
|
||||
<output>
|
||||
<name>Pitot Heat Power</name>
|
||||
<prop>/systems/electrical/outputs/pitot-heat</prop>
|
||||
</output>
|
||||
|
||||
|
||||
<!-- connect in power sources -->
|
||||
|
||||
<connector>
|
||||
<input>Alternator 1</input>
|
||||
<output>Master Bus</output>
|
||||
<switch>
|
||||
<prop>/controls/engines/engine[0]/master-alt</prop>
|
||||
</switch>
|
||||
</connector>
|
||||
|
||||
<connector>
|
||||
<input>Battery 1</input>
|
||||
<output>Master Bus</output>
|
||||
<switch>
|
||||
<prop>/controls/engines/engine[0]/master-bat</prop>
|
||||
</switch>
|
||||
</connector>
|
||||
|
||||
<!-- connect starter output -->
|
||||
|
||||
<connector>
|
||||
<input>Master Bus</input>
|
||||
<output>Starter 1 Power</output>
|
||||
<switch>
|
||||
<prop>/controls/engines/engine[0]/starter</prop>
|
||||
<initial-state>off</initial-state>
|
||||
</switch>
|
||||
</connector>
|
||||
|
||||
<!-- connect master bus outputs -->
|
||||
|
||||
<connector>
|
||||
<input>Master Bus</input>
|
||||
<output>Landing Light Power</output>
|
||||
<switch>
|
||||
<prop>/controls/switches/landing-light</prop>
|
||||
</switch>
|
||||
</connector>
|
||||
|
||||
<connector>
|
||||
<input>Master Bus</input>
|
||||
<output>Beacon Power</output>
|
||||
<switch>
|
||||
<prop>/controls/switches/flashing-beacon</prop>
|
||||
</switch>
|
||||
</connector>
|
||||
|
||||
<connector>
|
||||
<input>Master Bus</input>
|
||||
<output>Strobe Lights Power</output>
|
||||
<switch>
|
||||
<prop>/controls/switches/strobe-lights</prop>
|
||||
</switch>
|
||||
</connector>
|
||||
|
||||
<connector>
|
||||
<input>Master Bus</input>
|
||||
<output>Taxi Lights Power</output>
|
||||
<switch>
|
||||
<prop>/controls/switches/taxi-lights</prop>
|
||||
</switch>
|
||||
</connector>
|
||||
|
||||
<connector>
|
||||
<input>Master Bus</input>
|
||||
<output>Pitot Heat Power</output>
|
||||
<switch>
|
||||
<prop>/controls/switches/pitot-heat</prop>
|
||||
</switch>
|
||||
</connector>
|
||||
|
||||
</PropertyList>
|
||||
22
Tools/autotest/aircraft/Rascal/Systems/main.nas
Normal file
22
Tools/autotest/aircraft/Rascal/Systems/main.nas
Normal file
@ -0,0 +1,22 @@
|
||||
var dialog = gui.Dialog.new("/sim/gui/dialogs/rascal/config/dialog",
|
||||
"Aircraft/Rascal/Dialogs/config.xml");
|
||||
|
||||
var last_time = 0.0;
|
||||
|
||||
|
||||
var main_loop = func {
|
||||
var time = getprop("/sim/time/elapsed-sec");
|
||||
var dt = time - last_time;
|
||||
last_time = time;
|
||||
|
||||
update_airdata( dt );
|
||||
update_ugear( dt );
|
||||
|
||||
settimer(main_loop, 0);
|
||||
}
|
||||
|
||||
|
||||
setlistener("/sim/signals/fdm-initialized",
|
||||
func {
|
||||
main_loop();
|
||||
});
|
||||
54
Tools/autotest/aircraft/Rascal/Systems/ugear.nas
Normal file
54
Tools/autotest/aircraft/Rascal/Systems/ugear.nas
Normal file
@ -0,0 +1,54 @@
|
||||
var update_ugear = func( dt ) {
|
||||
var max_zoom_rate = 10*dt;
|
||||
var max_pan_rate = 30*dt;
|
||||
var max_tilt_rate = 45*dt;
|
||||
|
||||
var ap_enable = props.globals.getNode("/ugear/settings/ap-enable");
|
||||
if ( ap_enable == nil ) {
|
||||
props.globals.initNode("/ugear/settings/ap-enable", 0, "BOOL", 1);
|
||||
ap_enable = props.globals.getNode("/ugear/settings/ap-enable");
|
||||
}
|
||||
if ( ap_enable.getBoolValue() ) {
|
||||
setprop( "/controls/flight/aileron", getprop("/ugear/act/aileron") );
|
||||
setprop( "/controls/flight/elevator", getprop("/ugear/act/elevator") );
|
||||
}
|
||||
|
||||
var turret_enable = props.globals.getNode("/ugear/settings/turret-enable");
|
||||
if ( turret_enable == nil ) {
|
||||
props.globals.initNode("/ugear/settings/turret-enable", 0, "BOOL", 1);
|
||||
turret_enable = props.globals.getNode("/ugear/settings/turret-enable");
|
||||
}
|
||||
|
||||
if ( (getprop("/sim/current-view/name") == "Camera View")
|
||||
and turret_enable.getBoolValue() )
|
||||
{
|
||||
var target_zoom = getprop("/ugear/act/channel6");
|
||||
var target_pan = -getprop("/ugear/act/channel7");
|
||||
if ( target_pan < -180.0 ) { target_pan += 360.0; }
|
||||
if ( target_pan > 180.0 ) { target_pan -= 360.0; }
|
||||
var target_tilt = -getprop("/ugear/act/channel8");
|
||||
var cur_zoom = getprop("/sim/current-view/field-of-view");
|
||||
var cur_pan = getprop("/sim/current-view/heading-offset-deg");
|
||||
var cur_tilt = getprop("/sim/current-view/pitch-offset-deg");
|
||||
var diff = 0.0;
|
||||
|
||||
diff = target_zoom - cur_zoom;
|
||||
if ( diff > max_zoom_rate ) { diff = max_zoom_rate; }
|
||||
if ( diff < -max_zoom_rate ) { diff = -max_zoom_rate; }
|
||||
setprop("/sim/current-view/field-of-view", cur_zoom + diff);
|
||||
|
||||
diff = target_pan - cur_pan;
|
||||
if ( diff > 180 ) { diff -= 360; }
|
||||
if ( diff < -180 ) { diff += 360; }
|
||||
if ( diff > max_pan_rate ) { diff = max_pan_rate; }
|
||||
if ( diff < -max_pan_rate ) { diff = -max_pan_rate; }
|
||||
setprop("/sim/current-view/heading-offset-deg", cur_pan + diff);
|
||||
|
||||
diff = target_tilt - cur_tilt;
|
||||
if ( diff > 90 ) { diff = 90; }
|
||||
if ( diff < -90 ) { diff = -90; }
|
||||
if ( diff > max_tilt_rate ) { diff = max_tilt_rate; }
|
||||
if ( diff < -max_tilt_rate ) { diff = -max_tilt_rate; }
|
||||
setprop("/sim/current-view/pitch-offset-deg", cur_tilt + diff);
|
||||
}
|
||||
}
|
||||
11
Tools/autotest/aircraft/Rascal/reset_CMAC.xml
Normal file
11
Tools/autotest/aircraft/Rascal/reset_CMAC.xml
Normal file
@ -0,0 +1,11 @@
|
||||
<?xml version="1.0"?>
|
||||
<initialize name="Start up at Canberra Model Aircraft Club">
|
||||
<latitude unit="DEG"> -35.362851 </latitude>
|
||||
<longitude unit="DEG"> 149.165223 </longitude>
|
||||
<altitude unit="M"> 0 </altitude>
|
||||
<vt unit="FT/SEC"> 0.0 </vt>
|
||||
<gamma unit="DEG"> 0.0 </gamma>
|
||||
<phi unit="DEG"> 0.0 </phi>
|
||||
<theta unit="DEG"> 0.0 </theta>
|
||||
<psi unit="DEG"> 0.0 </psi>
|
||||
</initialize>
|
||||
4
Tools/autotest/aircraft/arducopter/Engines/a2830-12.xml
Normal file
4
Tools/autotest/aircraft/arducopter/Engines/a2830-12.xml
Normal file
@ -0,0 +1,4 @@
|
||||
<?xml version="1.0"?>
|
||||
<electric_engine name="a2830-12">
|
||||
<power unit="WATTS"> 187 </power>
|
||||
</electric_engine>
|
||||
76
Tools/autotest/aircraft/arducopter/Engines/prop10x4.5.xml
Normal file
76
Tools/autotest/aircraft/arducopter/Engines/prop10x4.5.xml
Normal file
@ -0,0 +1,76 @@
|
||||
<?xml version="1.0"?>
|
||||
<!-- Generated by Aero-Matic v 1.1
|
||||
|
||||
Inputs:
|
||||
horsepower: 0.250767
|
||||
pitch: fixed
|
||||
max engine rpm: 9435
|
||||
prop diameter (ft): 0.83333333333333
|
||||
|
||||
Outputs:
|
||||
max prop rpm: 22515.60
|
||||
gear ratio: 0.42
|
||||
Cp0: 0.002731
|
||||
Ct0: 0.003823
|
||||
static thrust (lbs): 0.66
|
||||
-->
|
||||
<propeller name="prop">
|
||||
<!--<ixx> 0.00 </ixx>-->
|
||||
<ixx> 0.000041666666 </ixx>
|
||||
<!--assuming solid rod of mass 8 g-->
|
||||
<diameter unit="IN"> 10.0 </diameter>
|
||||
<numblades> 2 </numblades>
|
||||
<gearratio> 1.0 </gearratio>
|
||||
<p_factor> 0.79 </p_factor>
|
||||
<table name="C_THRUST" type="internal">
|
||||
<tableData><!--experimentally measured-->
|
||||
0.0 0.0054513
|
||||
1.4 0.0054513
|
||||
<!--aeromatic generated-->
|
||||
<!--0.0 0.0042-->
|
||||
<!--0.1 0.0040-->
|
||||
<!--0.2 0.0038-->
|
||||
<!--0.3 0.0035-->
|
||||
<!--0.4 0.0032-->
|
||||
<!--0.5 0.0028-->
|
||||
<!--0.6 0.0023-->
|
||||
<!--0.7 0.0017-->
|
||||
<!--0.8 0.0009-->
|
||||
<!--1.0 -0.0003-->
|
||||
<!--1.2 -0.0016-->
|
||||
<!--1.4 -0.0030-->
|
||||
</tableData>
|
||||
</table>
|
||||
<table name="C_POWER" type="internal">
|
||||
<tableData>
|
||||
0.0 0.0028
|
||||
0.1 0.0028
|
||||
0.2 0.0027
|
||||
0.3 0.0027
|
||||
0.4 0.0025
|
||||
0.5 0.0023
|
||||
0.6 0.0021
|
||||
0.7 0.0018
|
||||
0.8 0.0015
|
||||
1.0 0.0005
|
||||
1.2 -0.0008
|
||||
1.4 -0.0025
|
||||
1.6 -0.0042
|
||||
</tableData>
|
||||
</table>
|
||||
<!-- thrust effects of helical tip Mach -->
|
||||
<table name="CT_MACH" type="internal">
|
||||
<tableData>
|
||||
0.85 1.0
|
||||
1.05 0.8
|
||||
</tableData>
|
||||
</table>
|
||||
<!-- power-required effects of helical tip Mach -->
|
||||
<table name="CP_MACH" type="internal">
|
||||
<tableData>
|
||||
0.85 1.0
|
||||
1.05 1.8
|
||||
2.00 1.4
|
||||
</tableData>
|
||||
</table>
|
||||
</propeller>
|
||||
BIN
Tools/autotest/aircraft/arducopter/Models/AutoSave_plus_quad.skp
Normal file
BIN
Tools/autotest/aircraft/arducopter/Models/AutoSave_plus_quad.skp
Normal file
Binary file not shown.
1094
Tools/autotest/aircraft/arducopter/Models/Untitled.ac
Normal file
1094
Tools/autotest/aircraft/arducopter/Models/Untitled.ac
Normal file
File diff suppressed because it is too large
Load Diff
BIN
Tools/autotest/aircraft/arducopter/Models/Untitled.skp
Normal file
BIN
Tools/autotest/aircraft/arducopter/Models/Untitled.skp
Normal file
Binary file not shown.
59099
Tools/autotest/aircraft/arducopter/Models/Y6_test.ac
Normal file
59099
Tools/autotest/aircraft/arducopter/Models/Y6_test.ac
Normal file
File diff suppressed because it is too large
Load Diff
BIN
Tools/autotest/aircraft/arducopter/Models/Y6_test.skp
Normal file
BIN
Tools/autotest/aircraft/arducopter/Models/Y6_test.skp
Normal file
Binary file not shown.
BIN
Tools/autotest/aircraft/arducopter/Models/Y6_test2.skp
Normal file
BIN
Tools/autotest/aircraft/arducopter/Models/Y6_test2.skp
Normal file
Binary file not shown.
BIN
Tools/autotest/aircraft/arducopter/Models/_propeller0_.skb
Normal file
BIN
Tools/autotest/aircraft/arducopter/Models/_propeller0_.skb
Normal file
Binary file not shown.
BIN
Tools/autotest/aircraft/arducopter/Models/_propeller0_.skp
Normal file
BIN
Tools/autotest/aircraft/arducopter/Models/_propeller0_.skp
Normal file
Binary file not shown.
15492
Tools/autotest/aircraft/arducopter/Models/arducopter.ac
Normal file
15492
Tools/autotest/aircraft/arducopter/Models/arducopter.ac
Normal file
File diff suppressed because it is too large
Load Diff
88
Tools/autotest/aircraft/arducopter/Models/arducopter.xml
Normal file
88
Tools/autotest/aircraft/arducopter/Models/arducopter.xml
Normal file
@ -0,0 +1,88 @@
|
||||
<?xml version="1.0"?>
|
||||
<PropertyList>
|
||||
<!--Airframe-->
|
||||
<path>arducopter.ac</path>
|
||||
<offsets>
|
||||
<z-m>0.0</z-m>
|
||||
<y-m>0</y-m>
|
||||
<x-m>0.0</x-m>
|
||||
<pitch-deg>0</pitch-deg>
|
||||
<heading-deg>180</heading-deg>
|
||||
</offsets>
|
||||
<!--Propeller Right-->
|
||||
<animation>
|
||||
<type>noshadow</type>
|
||||
<object-name>propeller0</object-name>
|
||||
</animation>
|
||||
<animation>
|
||||
<type>spin</type>
|
||||
<object-name>propeller0</object-name>
|
||||
<property>/engines/engine[0]/rpm</property>
|
||||
<factor>100</factor>
|
||||
<axis>
|
||||
<x1-m>0.000</x1-m>
|
||||
<y1-m>-0.288</y1-m>
|
||||
<z1-m>0.046</z1-m>
|
||||
<x2-m>0.000</x2-m>
|
||||
<y2-m>-0.288</y2-m>
|
||||
<z2-m>0.012</z2-m>
|
||||
</axis>
|
||||
</animation>
|
||||
<!--Propeller Left-->
|
||||
<animation>
|
||||
<type>noshadow</type>
|
||||
<object-name>propeller1</object-name>
|
||||
</animation>
|
||||
<animation>
|
||||
<type>spin</type>
|
||||
<object-name>propeller1</object-name>
|
||||
<property>/engines/engine[1]/rpm</property>
|
||||
<factor>100</factor>
|
||||
<axis>
|
||||
<x1-m>0.000</x1-m>
|
||||
<y1-m>0.288</y1-m>
|
||||
<z1-m>0.046</z1-m>
|
||||
<x2-m>0.000</x2-m>
|
||||
<y2-m>0.288</y2-m>
|
||||
<z2-m>0.012</z2-m>
|
||||
</axis>
|
||||
</animation>
|
||||
<!--Propeller Front-->
|
||||
<animation>
|
||||
<type>noshadow</type>
|
||||
<object-name>propeller2</object-name>
|
||||
</animation>
|
||||
<animation>
|
||||
<type>spin</type>
|
||||
<object-name>propeller2</object-name>
|
||||
<property>/engines/engine[2]/rpm</property>
|
||||
<factor>100</factor>
|
||||
<axis>
|
||||
<x1-m>0.288</x1-m>
|
||||
<y1-m>0.000</y1-m>
|
||||
<z1-m>0.046</z1-m>
|
||||
<x2-m>0.288</x2-m>
|
||||
<y2-m>0.000</y2-m>
|
||||
<z2-m>0.012</z2-m>
|
||||
</axis>
|
||||
</animation>
|
||||
<!--Propeller Back-->
|
||||
<animation>
|
||||
<type>noshadow</type>
|
||||
<object-name>propeller3</object-name>
|
||||
</animation>
|
||||
<animation>
|
||||
<type>spin</type>
|
||||
<object-name>propeller3</object-name>
|
||||
<property>/engines/engine[3]/rpm</property>
|
||||
<factor>100</factor>
|
||||
<axis>
|
||||
<x1-m>-0.288</x1-m>
|
||||
<y1-m>0.000</y1-m>
|
||||
<z1-m>0.046</z1-m>
|
||||
<x2-m>-0.288</x2-m>
|
||||
<y2-m>0.000</y2-m>
|
||||
<z2-m>0.012</z2-m>
|
||||
</axis>
|
||||
</animation>
|
||||
</PropertyList>
|
||||
89180
Tools/autotest/aircraft/arducopter/Models/plus_quad.ac
Normal file
89180
Tools/autotest/aircraft/arducopter/Models/plus_quad.ac
Normal file
File diff suppressed because it is too large
Load Diff
BIN
Tools/autotest/aircraft/arducopter/Models/plus_quad.skb
Normal file
BIN
Tools/autotest/aircraft/arducopter/Models/plus_quad.skb
Normal file
Binary file not shown.
BIN
Tools/autotest/aircraft/arducopter/Models/plus_quad.skp
Normal file
BIN
Tools/autotest/aircraft/arducopter/Models/plus_quad.skp
Normal file
Binary file not shown.
69820
Tools/autotest/aircraft/arducopter/Models/plus_quad2.ac
Normal file
69820
Tools/autotest/aircraft/arducopter/Models/plus_quad2.ac
Normal file
File diff suppressed because it is too large
Load Diff
2046
Tools/autotest/aircraft/arducopter/Models/plus_quad2.dae
Normal file
2046
Tools/autotest/aircraft/arducopter/Models/plus_quad2.dae
Normal file
File diff suppressed because one or more lines are too long
BIN
Tools/autotest/aircraft/arducopter/Models/plus_quad2.skb
Normal file
BIN
Tools/autotest/aircraft/arducopter/Models/plus_quad2.skb
Normal file
Binary file not shown.
BIN
Tools/autotest/aircraft/arducopter/Models/plus_quad2.skp
Normal file
BIN
Tools/autotest/aircraft/arducopter/Models/plus_quad2.skp
Normal file
Binary file not shown.
88
Tools/autotest/aircraft/arducopter/Models/plus_quad2.xml
Normal file
88
Tools/autotest/aircraft/arducopter/Models/plus_quad2.xml
Normal file
@ -0,0 +1,88 @@
|
||||
<?xml version="1.0"?>
|
||||
<PropertyList>
|
||||
<!--Airframe-->
|
||||
<path>plus_quad2.ac</path>
|
||||
<offsets>
|
||||
<z-m>0.0</z-m>
|
||||
<y-m>0</y-m>
|
||||
<x-m>0.0</x-m>
|
||||
<pitch-deg>0</pitch-deg>
|
||||
<heading-deg>180</heading-deg>
|
||||
</offsets>
|
||||
<!--Propeller Right-->
|
||||
<animation>
|
||||
<type>noshadow</type>
|
||||
<object-name>prop0</object-name>
|
||||
</animation>
|
||||
<animation>
|
||||
<type>spin</type>
|
||||
<object-name>prop0</object-name>
|
||||
<property>/controls/engines/engine[0]/throttle</property>
|
||||
<factor>12000</factor>
|
||||
<axis>
|
||||
<x1-m>0.000</x1-m>
|
||||
<y1-m>-0.288</y1-m>
|
||||
<z1-m>0.046</z1-m>
|
||||
<x2-m>0.000</x2-m>
|
||||
<y2-m>-0.288</y2-m>
|
||||
<z2-m>0.012</z2-m>
|
||||
</axis>
|
||||
</animation>
|
||||
<!--Propeller Left-->
|
||||
<animation>
|
||||
<type>noshadow</type>
|
||||
<object-name>prop1</object-name>
|
||||
</animation>
|
||||
<animation>
|
||||
<type>spin</type>
|
||||
<object-name>prop1</object-name>
|
||||
<property>/controls/engines/engine[1]/throttle</property>
|
||||
<factor>12000</factor>
|
||||
<axis>
|
||||
<x1-m>0.000</x1-m>
|
||||
<y1-m>0.288</y1-m>
|
||||
<z1-m>0.046</z1-m>
|
||||
<x2-m>0.000</x2-m>
|
||||
<y2-m>0.288</y2-m>
|
||||
<z2-m>0.012</z2-m>
|
||||
</axis>
|
||||
</animation>
|
||||
<!--Propeller Front-->
|
||||
<animation>
|
||||
<type>noshadow</type>
|
||||
<object-name>prop2</object-name>
|
||||
</animation>
|
||||
<animation>
|
||||
<type>spin</type>
|
||||
<object-name>prop2</object-name>
|
||||
<property>/controls/engines/engine[2]/throttle</property>
|
||||
<factor>12000</factor>
|
||||
<axis>
|
||||
<x1-m>0.288</x1-m>
|
||||
<y1-m>0.000</y1-m>
|
||||
<z1-m>0.046</z1-m>
|
||||
<x2-m>0.288</x2-m>
|
||||
<y2-m>0.000</y2-m>
|
||||
<z2-m>0.012</z2-m>
|
||||
</axis>
|
||||
</animation>
|
||||
<!--Propeller Back-->
|
||||
<animation>
|
||||
<type>noshadow</type>
|
||||
<object-name>prop3</object-name>
|
||||
</animation>
|
||||
<animation>
|
||||
<type>spin</type>
|
||||
<object-name>prop3</object-name>
|
||||
<property>/controls/engines/engine[3]/throttle</property>
|
||||
<factor>12000</factor>
|
||||
<axis>
|
||||
<x1-m>-0.288</x1-m>
|
||||
<y1-m>0.000</y1-m>
|
||||
<z1-m>0.046</z1-m>
|
||||
<x2-m>-0.288</x2-m>
|
||||
<y2-m>0.000</y2-m>
|
||||
<z2-m>0.012</z2-m>
|
||||
</axis>
|
||||
</animation>
|
||||
</PropertyList>
|
||||
BIN
Tools/autotest/aircraft/arducopter/Models/quad.3ds
Normal file
BIN
Tools/autotest/aircraft/arducopter/Models/quad.3ds
Normal file
Binary file not shown.
BIN
Tools/autotest/aircraft/arducopter/Models/quad.skp
Normal file
BIN
Tools/autotest/aircraft/arducopter/Models/quad.skp
Normal file
Binary file not shown.
BIN
Tools/autotest/aircraft/arducopter/Models/shareware_output.3ds
Normal file
BIN
Tools/autotest/aircraft/arducopter/Models/shareware_output.3ds
Normal file
Binary file not shown.
3
Tools/autotest/aircraft/arducopter/README
Normal file
3
Tools/autotest/aircraft/arducopter/README
Normal file
@ -0,0 +1,3 @@
|
||||
This model is based on the arducopter mode from James Goppert, and
|
||||
adapted for use in the ArduPilot test system. Many thanks to all who
|
||||
have contributed!
|
||||
93
Tools/autotest/aircraft/arducopter/arducopter-set.xml
Normal file
93
Tools/autotest/aircraft/arducopter/arducopter-set.xml
Normal file
@ -0,0 +1,93 @@
|
||||
<?xml version="1.0"?>
|
||||
<!--
|
||||
************************************************************************
|
||||
Arducotper UAV Model
|
||||
************************************************************************
|
||||
-->
|
||||
<PropertyList>
|
||||
<sim>
|
||||
<description>Arducopter UAV (R/C)</description>
|
||||
<author>James Goppert</author>
|
||||
<aircraft-version>0.0</aircraft-version>
|
||||
<status>experimental</status>
|
||||
<flight-model>jsb</flight-model>
|
||||
<aero>arducopter</aero>
|
||||
<model-hz>50</model-hz>
|
||||
<sound>
|
||||
<path>Aircraft/Generic/generic-sound.xml</path>
|
||||
</sound>
|
||||
<panel>
|
||||
<visibility archive="n">false</visibility>
|
||||
</panel>
|
||||
<model>
|
||||
<path archive="y">Aircraft/arducopter/Models/arducopter.xml</path>
|
||||
</model>
|
||||
<view>
|
||||
<internal archive="y">true</internal>
|
||||
<config>
|
||||
<x-offset-m archive="y">0.0</x-offset-m>
|
||||
<y-offset-m archive="y">0.15</y-offset-m>
|
||||
<z-offset-m archive="y">0.90</z-offset-m>
|
||||
<pitch-offset-deg>0</pitch-offset-deg>
|
||||
</config>
|
||||
</view>
|
||||
<chase-distance-m archive="y" type="double">-5.5</chase-distance-m>
|
||||
<help>
|
||||
<title>arducopter UAV</title>
|
||||
<line>Cruise speed: ? mph</line>
|
||||
<line>Never-exceed (Vne): ? mph</line>
|
||||
<line>Best Glide (Vglide): ? mph</line>
|
||||
<line>Maneuvering (Va): ? mph</line>
|
||||
<line>Approach speed: ? mph</line>
|
||||
<line>Stall speed (Vs): ? mph</line>
|
||||
</help>
|
||||
<startup>
|
||||
<splash-title>Arducopter UAV DIY Drones/ OPENMAV</splash-title>
|
||||
<splash-texture>Aircraft/arducopter/arducopter.jpg</splash-texture>
|
||||
</startup>
|
||||
</sim>
|
||||
<controls>
|
||||
<flight>
|
||||
<aileron-trim>0.00</aileron-trim>
|
||||
<!-- fixed -->
|
||||
<elevator-trim>0.00</elevator-trim>
|
||||
<!-- controllable -->
|
||||
</flight>
|
||||
</controls>
|
||||
<consumables>
|
||||
<fuel>
|
||||
<tank n="0">
|
||||
<level-gal_us>0</level-gal_us>
|
||||
</tank>
|
||||
</fuel>
|
||||
</consumables>
|
||||
<payload>
|
||||
<weight>
|
||||
<name type="string">Payload</name>
|
||||
<weight-lb alias="/fdm/jsbsim/inertia/pointmass-weight-lbs[0]"/>
|
||||
<min-lb type="double">0.0</min-lb>
|
||||
<max-lb type="double">1.0</max-lb>
|
||||
</weight>
|
||||
</payload>
|
||||
<nasal>
|
||||
<arducopter>
|
||||
<script>
|
||||
setlistener("/sim/signals/fdm-initialized", func {
|
||||
var left = screen.display.new(20, 10);
|
||||
left.add("/engines/engine[0]/rpm");
|
||||
left.add("/engines/engine[1]/rpm");
|
||||
left.add("/engines/engine[2]/rpm");
|
||||
left.add("/engines/engine[3]/rpm");
|
||||
|
||||
var right = screen.display.new(-250, 20);
|
||||
right.add("/position/altitude-agl-ft");
|
||||
right.add("/orientation/roll-deg");
|
||||
right.add("/orientation/pitch-deg");
|
||||
right.add("/orientation/heading-deg");
|
||||
right.add("/instrumentation/gps/indicated-ground-speed-kt");
|
||||
});
|
||||
</script>
|
||||
</arducopter>
|
||||
</nasal>
|
||||
</PropertyList>
|
||||
<!-- vim:sw=4:ts=4:expandtab -->
|
||||
248
Tools/autotest/aircraft/arducopter/arducopter.xml
Normal file
248
Tools/autotest/aircraft/arducopter/arducopter.xml
Normal file
@ -0,0 +1,248 @@
|
||||
<?xml version="1.0"?>
|
||||
<?xml-stylesheet type="text/xsl" href="http://jsbsim.sourceforge.net/JSBSim.xsl"?>
|
||||
<fdm_config xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" name="dflyer" version="2.0" release="ALPHA" xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
|
||||
<fileheader>
|
||||
<author> James Goppert </author>
|
||||
<filecreationdate> 2010-03-11 </filecreationdate>
|
||||
<version>0.0 </version>
|
||||
<description> Arducopter DIY Drones UAV. </description>
|
||||
</fileheader>
|
||||
<metrics>
|
||||
<wingarea unit="M2"> 0.017</wingarea>
|
||||
<wingspan unit="M"> 0.13 </wingspan>
|
||||
<chord unit="FT"> 0.0 </chord>
|
||||
<htailarea unit="FT2"> 0.0 </htailarea>
|
||||
<htailarm unit="FT"> 0.0 </htailarm>
|
||||
<vtailarea unit="FT2"> 0.0 </vtailarea>
|
||||
<vtailarm unit="FT"> 0.0 </vtailarm>
|
||||
<location name="AERORP" unit="IN">
|
||||
<x> 0.00 </x>
|
||||
<y> 0.00 </y>
|
||||
<z> 0.00 </z>
|
||||
</location>
|
||||
<location name="EYEPOINT" unit="IN">
|
||||
<x> 0.0 </x>
|
||||
<y> 0.0 </y>
|
||||
<z> 0.0 </z>
|
||||
</location>
|
||||
<location name="VRP" unit="IN">
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<z>0</z>
|
||||
</location>
|
||||
</metrics>
|
||||
<mass_balance>
|
||||
<!--roughtly approximating this as a solid sphere with correct mass-->
|
||||
<ixx unit="KG*M2"> 0.036 </ixx>
|
||||
<iyy unit="KG*M2"> 0.036 </iyy>
|
||||
<izz unit="KG*M2"> 0.036 </izz>
|
||||
<emptywt unit="KG"> 1.0 </emptywt>
|
||||
<location name="CG" unit="IN">
|
||||
<x> 0.0 </x>
|
||||
<y> 0.0 </y>
|
||||
<z> 0.0 </z>
|
||||
</location>
|
||||
<pointmass name="Payload">
|
||||
<weight unit="KG"> 0.0 </weight>
|
||||
<location unit="IN">
|
||||
<x> 0.0 </x>
|
||||
<y> 0.0 </y>
|
||||
<z> 0.0 </z>
|
||||
</location>
|
||||
</pointmass>
|
||||
</mass_balance>
|
||||
<ground_reactions>
|
||||
<contact type="BOGEY" name="frontbase">
|
||||
<location unit="M">
|
||||
<x> -0.283 </x>
|
||||
<y> 0.00 </y>
|
||||
<z> -0.033</z>
|
||||
</location>
|
||||
<static_friction> 0.80 </static_friction>
|
||||
<dynamic_friction> 0.50 </dynamic_friction>
|
||||
<spring_coeff unit="N/M"> 800 </spring_coeff>
|
||||
<damping_coeff unit="N/M2/SEC2" type="SQUARE"> 7 </damping_coeff>
|
||||
<damping_coeff_rebound unit="N/M2/SEC2" type="SQUARE"> 300 </damping_coeff_rebound>
|
||||
</contact>
|
||||
<contact type="BOGEY" name="rearbase">
|
||||
<location unit="M">
|
||||
<x> 0.283 </x>
|
||||
<y> 0.00 </y>
|
||||
<z> -0.033</z>
|
||||
</location>
|
||||
<static_friction> 0.80 </static_friction>
|
||||
<dynamic_friction> 0.50 </dynamic_friction>
|
||||
<spring_coeff unit="N/M"> 800 </spring_coeff>
|
||||
<damping_coeff unit="N/M2/SEC2" type="SQUARE"> 7 </damping_coeff>
|
||||
<damping_coeff_rebound unit="N/M2/SEC2" type="SQUARE"> 300 </damping_coeff_rebound>
|
||||
</contact>
|
||||
<contact type="BOGEY" name="leftbase">
|
||||
<location unit="M">
|
||||
<x> 0.00 </x>
|
||||
<y> 0.283 </y>
|
||||
<z> -0.033</z>
|
||||
</location>
|
||||
<static_friction> 0.80 </static_friction>
|
||||
<dynamic_friction> 0.50 </dynamic_friction>
|
||||
<spring_coeff unit="N/M"> 800 </spring_coeff>
|
||||
<damping_coeff unit="N/M2/SEC2" type="SQUARE"> 7 </damping_coeff>
|
||||
<damping_coeff_rebound unit="N/M2/SEC2" type="SQUARE"> 300 </damping_coeff_rebound>
|
||||
</contact>
|
||||
<contact type="BOGEY" name="rightbase">
|
||||
<location unit="M">
|
||||
<x> 0.00 </x>
|
||||
<y> -0.283 </y>
|
||||
<z> -0.033</z>
|
||||
</location>
|
||||
<static_friction> 0.80 </static_friction>
|
||||
<dynamic_friction> 0.50 </dynamic_friction>
|
||||
<spring_coeff unit="N/M"> 800 </spring_coeff>
|
||||
<damping_coeff unit="N/M2/SEC2" type="SQUARE"> 7 </damping_coeff>
|
||||
<damping_coeff_rebound unit="N/M2/SEC2" type="SQUARE"> 300 </damping_coeff_rebound>
|
||||
</contact>
|
||||
</ground_reactions>
|
||||
<!-- the front and rear motors spin clockwise, and the left and right motors spin counter-clockwise. -->
|
||||
<propulsion>
|
||||
<engine file="a2830-12" name="front">
|
||||
<location unit="M">
|
||||
<x> -0.283 </x>
|
||||
<y> 0.00 </y>
|
||||
<z> 0.00 </z>
|
||||
</location>
|
||||
<orient unit="DEG">
|
||||
<pitch> 90.00 </pitch>
|
||||
<roll> 0.00 </roll>
|
||||
<yaw> 0.00 </yaw>
|
||||
</orient>
|
||||
<feed>0</feed>
|
||||
<thruster file="prop10x4.5">
|
||||
<location unit="M">
|
||||
<x> -0.283 </x>
|
||||
<y> 0.00 </y>
|
||||
<z> 0.125 </z>
|
||||
</location>
|
||||
<orient unit="DEG">
|
||||
<pitch> 90.00 </pitch>
|
||||
<roll> 0.00 </roll>
|
||||
<yaw> 0.00 </yaw>
|
||||
</orient>
|
||||
<sense> 1 </sense>
|
||||
<p_factor> 10 </p_factor>
|
||||
</thruster>
|
||||
</engine>
|
||||
<engine file="a2830-12" name="rear">
|
||||
<location unit="M">
|
||||
<x> 0.283 </x>
|
||||
<y> 0.000 </y>
|
||||
<z> 0.000 </z>
|
||||
</location>
|
||||
<orient unit="DEG">
|
||||
<pitch> 90.00 </pitch>
|
||||
<roll> 0.00 </roll>
|
||||
<yaw> 0.00 </yaw>
|
||||
</orient>
|
||||
<feed>0</feed>
|
||||
<thruster file="prop10x4.5">
|
||||
<location unit="M">
|
||||
<x> 0.283 </x>
|
||||
<y> 0.000 </y>
|
||||
<z> 0.125 </z>
|
||||
</location>
|
||||
<orient unit="DEG">
|
||||
<pitch> 90.00 </pitch>
|
||||
<roll> 0.00 </roll>
|
||||
<yaw> 0.00 </yaw>
|
||||
</orient>
|
||||
<sense> 1 </sense>
|
||||
<p_factor> 10 </p_factor>
|
||||
</thruster>
|
||||
</engine>
|
||||
<engine file="a2830-12" name="left">
|
||||
<location unit="M">
|
||||
<x> 0.00 </x>
|
||||
<y> 0.283 </y>
|
||||
<z> 0.00 </z>
|
||||
</location>
|
||||
<orient unit="DEG">
|
||||
<pitch> 90.00 </pitch>
|
||||
<roll> 0.00 </roll>
|
||||
<yaw> 0.00 </yaw>
|
||||
</orient>
|
||||
<feed>0</feed>
|
||||
<thruster file="prop10x4.5">
|
||||
<location unit="M">
|
||||
<x> 0.00 </x>
|
||||
<y> 0.283 </y>
|
||||
<z> 0.125 </z>
|
||||
</location>
|
||||
<orient unit="DEG">
|
||||
<pitch> 90.00 </pitch>
|
||||
<roll> 0.00 </roll>
|
||||
<yaw> 0.00 </yaw>
|
||||
</orient>
|
||||
<sense> -1 </sense>
|
||||
<p_factor> 10 </p_factor>
|
||||
</thruster>
|
||||
</engine>
|
||||
<engine file="a2830-12" name="right">
|
||||
<location unit="M">
|
||||
<x> 0.000 </x>
|
||||
<y> -0.283 </y>
|
||||
<z> 0.000 </z>
|
||||
</location>
|
||||
<orient unit="DEG">
|
||||
<pitch> 90.00 </pitch>
|
||||
<roll> 0.00 </roll>
|
||||
<yaw> 0.00 </yaw>
|
||||
</orient>
|
||||
<feed>0</feed>
|
||||
<thruster file="prop10x4.5">
|
||||
<location unit="M">
|
||||
<x> 0.000 </x>
|
||||
<y> -0.283 </y>
|
||||
<z> 0.125 </z>
|
||||
</location>
|
||||
<orient unit="DEG">
|
||||
<pitch> 90.00 </pitch>
|
||||
<roll> 0.00 </roll>
|
||||
<yaw> 0.00 </yaw>
|
||||
</orient>
|
||||
<sense> -1 </sense>
|
||||
<p_factor> 10 </p_factor>
|
||||
</thruster>
|
||||
</engine>
|
||||
<tank type="FUEL" number="0">
|
||||
<location unit="M">
|
||||
<x> 0.00 </x>
|
||||
<y> 0.00 </y>
|
||||
<z> -0.07 </z>
|
||||
</location>
|
||||
<!--have to have a fuel capacity, so setting it small-->
|
||||
<capacity unit="KG"> 0.00000000001 </capacity>
|
||||
<contents unit="KG"> 0.0 </contents>
|
||||
</tank>
|
||||
</propulsion>
|
||||
<aerodynamics>
|
||||
<axis name="LIFT">
|
||||
</axis>
|
||||
<axis name="DRAG">
|
||||
<function name="aero/coefficient/CD0">
|
||||
<description>Overall Drag</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<value>1</value>
|
||||
</product>
|
||||
</function>
|
||||
</axis>
|
||||
<axis name="SIDE">
|
||||
</axis>
|
||||
<axis name="ROLL">
|
||||
</axis>
|
||||
<axis name="PITCH">
|
||||
</axis>
|
||||
<axis name="YAW">
|
||||
</axis>
|
||||
</aerodynamics>
|
||||
</fdm_config>
|
||||
<!-- vim:ts=2:sw=2:expandtab -->
|
||||
9239
Tools/autotest/aircraft/arducopter/data/arducopter_half_step.txt
Normal file
9239
Tools/autotest/aircraft/arducopter/data/arducopter_half_step.txt
Normal file
File diff suppressed because it is too large
Load Diff
11813
Tools/autotest/aircraft/arducopter/data/arducopter_step.txt
Normal file
11813
Tools/autotest/aircraft/arducopter/data/arducopter_step.txt
Normal file
File diff suppressed because it is too large
Load Diff
2666
Tools/autotest/aircraft/arducopter/data/rw_generic_pylon.ac
Normal file
2666
Tools/autotest/aircraft/arducopter/data/rw_generic_pylon.ac
Normal file
File diff suppressed because it is too large
Load Diff
12
Tools/autotest/aircraft/arducopter/initfile.xml
Normal file
12
Tools/autotest/aircraft/arducopter/initfile.xml
Normal file
@ -0,0 +1,12 @@
|
||||
<?xml version="1.0"?>
|
||||
<initialize name="reset00">
|
||||
<ubody unit="M/SEC"> nan </ubody>
|
||||
<vbody unit="M/SEC"> nan </vbody>
|
||||
<wbody unit="M/SEC"> nan </wbody>
|
||||
<phi unit="DEG"> nan </phi>
|
||||
<theta unit="DEG"> -nan </theta>
|
||||
<psi unit="DEG"> nan </psi>
|
||||
<longitude unit="DEG"> nan </longitude>
|
||||
<latitude unit="DEG"> nan </latitude>
|
||||
<altitude unit="M"> nan </altitude>
|
||||
</initialize>
|
||||
93
Tools/autotest/aircraft/arducopter/plus_quad2-set.xml
Normal file
93
Tools/autotest/aircraft/arducopter/plus_quad2-set.xml
Normal file
@ -0,0 +1,93 @@
|
||||
<?xml version="1.0"?>
|
||||
<!--
|
||||
************************************************************************
|
||||
Arducotper UAV Model
|
||||
************************************************************************
|
||||
-->
|
||||
<PropertyList>
|
||||
<sim>
|
||||
<description>Arducopter UAV (R/C) (plus quad)</description>
|
||||
<author>James Goppert</author>
|
||||
<aircraft-version>0.0</aircraft-version>
|
||||
<status>experimental</status>
|
||||
<flight-model>jsb</flight-model>
|
||||
<aero>plus_quad2</aero>
|
||||
<model-hz>50</model-hz>
|
||||
<sound>
|
||||
<path>Aircraft/Generic/generic-sound.xml</path>
|
||||
</sound>
|
||||
<panel>
|
||||
<visibility archive="n">false</visibility>
|
||||
</panel>
|
||||
<model>
|
||||
<path archive="y">Aircraft/arducopter/Models/plus_quad2.xml</path>
|
||||
</model>
|
||||
<view>
|
||||
<internal archive="y">true</internal>
|
||||
<config>
|
||||
<x-offset-m archive="y">0.0</x-offset-m>
|
||||
<y-offset-m archive="y">0.15</y-offset-m>
|
||||
<z-offset-m archive="y">0.90</z-offset-m>
|
||||
<pitch-offset-deg>0</pitch-offset-deg>
|
||||
</config>
|
||||
</view>
|
||||
<chase-distance-m archive="y" type="double">-5.5</chase-distance-m>
|
||||
<help>
|
||||
<title>plus_quad UAV</title>
|
||||
<line>Cruise speed: ? mph</line>
|
||||
<line>Never-exceed (Vne): ? mph</line>
|
||||
<line>Best Glide (Vglide): ? mph</line>
|
||||
<line>Maneuvering (Va): ? mph</line>
|
||||
<line>Approach speed: ? mph</line>
|
||||
<line>Stall speed (Vs): ? mph</line>
|
||||
</help>
|
||||
<startup>
|
||||
<splash-title>Arducopter UAV DIY Drones/ OPENMAV</splash-title>
|
||||
<splash-texture>Aircraft/arducopter/arducopter.jpg</splash-texture>
|
||||
</startup>
|
||||
</sim>
|
||||
<controls>
|
||||
<flight>
|
||||
<aileron-trim>0.00</aileron-trim>
|
||||
<!-- fixed -->
|
||||
<elevator-trim>0.00</elevator-trim>
|
||||
<!-- controllable -->
|
||||
</flight>
|
||||
</controls>
|
||||
<consumables>
|
||||
<fuel>
|
||||
<tank n="0">
|
||||
<level-gal_us>0</level-gal_us>
|
||||
</tank>
|
||||
</fuel>
|
||||
</consumables>
|
||||
<payload>
|
||||
<weight>
|
||||
<name type="string">Payload</name>
|
||||
<weight-lb alias="/fdm/jsbsim/inertia/pointmass-weight-lbs[0]"/>
|
||||
<min-lb type="double">0.0</min-lb>
|
||||
<max-lb type="double">1.0</max-lb>
|
||||
</weight>
|
||||
</payload>
|
||||
<nasal>
|
||||
<plus_quad2>
|
||||
<script>
|
||||
setlistener("/sim/signals/fdm-initialized", func {
|
||||
var left = screen.display.new(20, 10);
|
||||
left.add("/controls/engines/engine[0]/throttle");
|
||||
left.add("/controls/engines/engine[1]/throttle");
|
||||
left.add("/controls/engines/engine[2]/throttle");
|
||||
left.add("/controls/engines/engine[3]/throttle");
|
||||
|
||||
var right = screen.display.new(-250, 20);
|
||||
right.add("/position/altitude-agl-ft");
|
||||
right.add("/orientation/roll-deg");
|
||||
right.add("/orientation/pitch-deg");
|
||||
right.add("/orientation/heading-deg");
|
||||
right.add("/instrumentation/gps/indicated-ground-speed-kt");
|
||||
});
|
||||
</script>
|
||||
</plus_quad2>
|
||||
</nasal>
|
||||
</PropertyList>
|
||||
<!-- vim:sw=4:ts=4:expandtab -->
|
||||
248
Tools/autotest/aircraft/arducopter/plus_quad2.xml
Normal file
248
Tools/autotest/aircraft/arducopter/plus_quad2.xml
Normal file
@ -0,0 +1,248 @@
|
||||
<?xml version="1.0"?>
|
||||
<?xml-stylesheet type="text/xsl" href="http://jsbsim.sourceforge.net/JSBSim.xsl"?>
|
||||
<fdm_config xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" name="dflyer" version="2.0" release="ALPHA" xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
|
||||
<fileheader>
|
||||
<author> James Goppert </author>
|
||||
<filecreationdate> 2010-03-11 </filecreationdate>
|
||||
<version>0.0 </version>
|
||||
<description> Arducopter DIY Drones UAV. </description>
|
||||
</fileheader>
|
||||
<metrics>
|
||||
<wingarea unit="M2"> 0.017</wingarea>
|
||||
<wingspan unit="M"> 0.13 </wingspan>
|
||||
<chord unit="FT"> 0.0 </chord>
|
||||
<htailarea unit="FT2"> 0.0 </htailarea>
|
||||
<htailarm unit="FT"> 0.0 </htailarm>
|
||||
<vtailarea unit="FT2"> 0.0 </vtailarea>
|
||||
<vtailarm unit="FT"> 0.0 </vtailarm>
|
||||
<location name="AERORP" unit="IN">
|
||||
<x> 0.00 </x>
|
||||
<y> 0.00 </y>
|
||||
<z> 0.00 </z>
|
||||
</location>
|
||||
<location name="EYEPOINT" unit="IN">
|
||||
<x> 0.0 </x>
|
||||
<y> 0.0 </y>
|
||||
<z> 0.0 </z>
|
||||
</location>
|
||||
<location name="VRP" unit="IN">
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<z>0</z>
|
||||
</location>
|
||||
</metrics>
|
||||
<mass_balance>
|
||||
<!--roughtly approximating this as a solid sphere with correct mass-->
|
||||
<ixx unit="KG*M2"> 0.036 </ixx>
|
||||
<iyy unit="KG*M2"> 0.036 </iyy>
|
||||
<izz unit="KG*M2"> 0.036 </izz>
|
||||
<emptywt unit="KG"> 1.0 </emptywt>
|
||||
<location name="CG" unit="IN">
|
||||
<x> 0.0 </x>
|
||||
<y> 0.0 </y>
|
||||
<z> 0.0 </z>
|
||||
</location>
|
||||
<pointmass name="Payload">
|
||||
<weight unit="KG"> 0.0 </weight>
|
||||
<location unit="IN">
|
||||
<x> 0.0 </x>
|
||||
<y> 0.0 </y>
|
||||
<z> 0.0 </z>
|
||||
</location>
|
||||
</pointmass>
|
||||
</mass_balance>
|
||||
<ground_reactions>
|
||||
<contact type="BOGEY" name="frontbase">
|
||||
<location unit="M">
|
||||
<x> -0.283 </x>
|
||||
<y> 0.00 </y>
|
||||
<z> -0.033</z>
|
||||
</location>
|
||||
<static_friction> 0.80 </static_friction>
|
||||
<dynamic_friction> 0.50 </dynamic_friction>
|
||||
<spring_coeff unit="N/M"> 800 </spring_coeff>
|
||||
<damping_coeff unit="N/M2/SEC2" type="SQUARE"> 7 </damping_coeff>
|
||||
<damping_coeff_rebound unit="N/M2/SEC2" type="SQUARE"> 300 </damping_coeff_rebound>
|
||||
</contact>
|
||||
<contact type="BOGEY" name="rearbase">
|
||||
<location unit="M">
|
||||
<x> 0.283 </x>
|
||||
<y> 0.00 </y>
|
||||
<z> -0.033</z>
|
||||
</location>
|
||||
<static_friction> 0.80 </static_friction>
|
||||
<dynamic_friction> 0.50 </dynamic_friction>
|
||||
<spring_coeff unit="N/M"> 800 </spring_coeff>
|
||||
<damping_coeff unit="N/M2/SEC2" type="SQUARE"> 7 </damping_coeff>
|
||||
<damping_coeff_rebound unit="N/M2/SEC2" type="SQUARE"> 300 </damping_coeff_rebound>
|
||||
</contact>
|
||||
<contact type="BOGEY" name="leftbase">
|
||||
<location unit="M">
|
||||
<x> 0.00 </x>
|
||||
<y> 0.283 </y>
|
||||
<z> -0.033</z>
|
||||
</location>
|
||||
<static_friction> 0.80 </static_friction>
|
||||
<dynamic_friction> 0.50 </dynamic_friction>
|
||||
<spring_coeff unit="N/M"> 800 </spring_coeff>
|
||||
<damping_coeff unit="N/M2/SEC2" type="SQUARE"> 7 </damping_coeff>
|
||||
<damping_coeff_rebound unit="N/M2/SEC2" type="SQUARE"> 300 </damping_coeff_rebound>
|
||||
</contact>
|
||||
<contact type="BOGEY" name="rightbase">
|
||||
<location unit="M">
|
||||
<x> 0.00 </x>
|
||||
<y> -0.283 </y>
|
||||
<z> -0.033</z>
|
||||
</location>
|
||||
<static_friction> 0.80 </static_friction>
|
||||
<dynamic_friction> 0.50 </dynamic_friction>
|
||||
<spring_coeff unit="N/M"> 800 </spring_coeff>
|
||||
<damping_coeff unit="N/M2/SEC2" type="SQUARE"> 7 </damping_coeff>
|
||||
<damping_coeff_rebound unit="N/M2/SEC2" type="SQUARE"> 300 </damping_coeff_rebound>
|
||||
</contact>
|
||||
</ground_reactions>
|
||||
<!-- the front and rear motors spin clockwise, and the left and right motors spin counter-clockwise. -->
|
||||
<propulsion>
|
||||
<engine file="a2830-12" name="front">
|
||||
<location unit="M">
|
||||
<x> -0.283 </x>
|
||||
<y> 0.00 </y>
|
||||
<z> 0.00 </z>
|
||||
</location>
|
||||
<orient unit="DEG">
|
||||
<pitch> 90.00 </pitch>
|
||||
<roll> 0.00 </roll>
|
||||
<yaw> 0.00 </yaw>
|
||||
</orient>
|
||||
<feed>0</feed>
|
||||
<thruster file="prop10x4.5">
|
||||
<location unit="M">
|
||||
<x> -0.283 </x>
|
||||
<y> 0.00 </y>
|
||||
<z> 0.125 </z>
|
||||
</location>
|
||||
<orient unit="DEG">
|
||||
<pitch> 90.00 </pitch>
|
||||
<roll> 0.00 </roll>
|
||||
<yaw> 0.00 </yaw>
|
||||
</orient>
|
||||
<sense> 1 </sense>
|
||||
<p_factor> 10 </p_factor>
|
||||
</thruster>
|
||||
</engine>
|
||||
<engine file="a2830-12" name="rear">
|
||||
<location unit="M">
|
||||
<x> 0.283 </x>
|
||||
<y> 0.000 </y>
|
||||
<z> 0.000 </z>
|
||||
</location>
|
||||
<orient unit="DEG">
|
||||
<pitch> 90.00 </pitch>
|
||||
<roll> 0.00 </roll>
|
||||
<yaw> 0.00 </yaw>
|
||||
</orient>
|
||||
<feed>0</feed>
|
||||
<thruster file="prop10x4.5">
|
||||
<location unit="M">
|
||||
<x> 0.283 </x>
|
||||
<y> 0.000 </y>
|
||||
<z> 0.125 </z>
|
||||
</location>
|
||||
<orient unit="DEG">
|
||||
<pitch> 90.00 </pitch>
|
||||
<roll> 0.00 </roll>
|
||||
<yaw> 0.00 </yaw>
|
||||
</orient>
|
||||
<sense> 1 </sense>
|
||||
<p_factor> 10 </p_factor>
|
||||
</thruster>
|
||||
</engine>
|
||||
<engine file="a2830-12" name="left">
|
||||
<location unit="M">
|
||||
<x> 0.00 </x>
|
||||
<y> 0.283 </y>
|
||||
<z> 0.00 </z>
|
||||
</location>
|
||||
<orient unit="DEG">
|
||||
<pitch> 90.00 </pitch>
|
||||
<roll> 0.00 </roll>
|
||||
<yaw> 0.00 </yaw>
|
||||
</orient>
|
||||
<feed>0</feed>
|
||||
<thruster file="prop10x4.5">
|
||||
<location unit="M">
|
||||
<x> 0.00 </x>
|
||||
<y> 0.283 </y>
|
||||
<z> 0.125 </z>
|
||||
</location>
|
||||
<orient unit="DEG">
|
||||
<pitch> 90.00 </pitch>
|
||||
<roll> 0.00 </roll>
|
||||
<yaw> 0.00 </yaw>
|
||||
</orient>
|
||||
<sense> -1 </sense>
|
||||
<p_factor> 10 </p_factor>
|
||||
</thruster>
|
||||
</engine>
|
||||
<engine file="a2830-12" name="right">
|
||||
<location unit="M">
|
||||
<x> 0.000 </x>
|
||||
<y> -0.283 </y>
|
||||
<z> 0.000 </z>
|
||||
</location>
|
||||
<orient unit="DEG">
|
||||
<pitch> 90.00 </pitch>
|
||||
<roll> 0.00 </roll>
|
||||
<yaw> 0.00 </yaw>
|
||||
</orient>
|
||||
<feed>0</feed>
|
||||
<thruster file="prop10x4.5">
|
||||
<location unit="M">
|
||||
<x> 0.000 </x>
|
||||
<y> -0.283 </y>
|
||||
<z> 0.125 </z>
|
||||
</location>
|
||||
<orient unit="DEG">
|
||||
<pitch> 90.00 </pitch>
|
||||
<roll> 0.00 </roll>
|
||||
<yaw> 0.00 </yaw>
|
||||
</orient>
|
||||
<sense> -1 </sense>
|
||||
<p_factor> 10 </p_factor>
|
||||
</thruster>
|
||||
</engine>
|
||||
<tank type="FUEL" number="0">
|
||||
<location unit="M">
|
||||
<x> 0.00 </x>
|
||||
<y> 0.00 </y>
|
||||
<z> -0.07 </z>
|
||||
</location>
|
||||
<!--have to have a fuel capacity, so setting it small-->
|
||||
<capacity unit="KG"> 0.00000000001 </capacity>
|
||||
<contents unit="KG"> 0.0 </contents>
|
||||
</tank>
|
||||
</propulsion>
|
||||
<aerodynamics>
|
||||
<axis name="LIFT">
|
||||
</axis>
|
||||
<axis name="DRAG">
|
||||
<function name="aero/coefficient/CD0">
|
||||
<description>Overall Drag</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<value>1</value>
|
||||
</product>
|
||||
</function>
|
||||
</axis>
|
||||
<axis name="SIDE">
|
||||
</axis>
|
||||
<axis name="ROLL">
|
||||
</axis>
|
||||
<axis name="PITCH">
|
||||
</axis>
|
||||
<axis name="YAW">
|
||||
</axis>
|
||||
</aerodynamics>
|
||||
</fdm_config>
|
||||
<!-- vim:ts=2:sw=2:expandtab -->
|
||||
@ -2,12 +2,11 @@
|
||||
|
||||
import util, pexpect, sys, time, math, shutil, os
|
||||
from common import *
|
||||
import mavutil, mavwp, random
|
||||
|
||||
# get location of scripts
|
||||
testdir=os.path.dirname(os.path.realpath(__file__))
|
||||
|
||||
sys.path.insert(0, util.reltopdir('../pymavlink'))
|
||||
import mavutil, mavwp
|
||||
|
||||
HOME=location(-35.362938,149.165085,584,270)
|
||||
|
||||
@ -229,12 +228,12 @@ def fly_ArduCopter(viewerip=None):
|
||||
you can pass viewerip as an IP address to optionally send fg and
|
||||
mavproxy packets too for local viewing of the flight in real time
|
||||
'''
|
||||
global expect_list, homeloc
|
||||
global homeloc
|
||||
|
||||
hquad_cmd = util.reltopdir('../HILTest/hil_quad.py') + ' --fgrate=200 --home=%f,%f,%u,%u' % (
|
||||
simquad_cmd = util.reltopdir('Tools/autotest/pysim/sim_quad.py') + ' --rate=400 --home=%f,%f,%u,%u' % (
|
||||
HOME.lat, HOME.lng, HOME.alt, HOME.heading)
|
||||
if viewerip:
|
||||
hquad_cmd += ' --fgout=192.168.2.15:9123'
|
||||
simquad_cmd += ' --fgout=%s:5503' % viewerip
|
||||
|
||||
sil = util.start_SIL('ArduCopter', wipe=True)
|
||||
mavproxy = util.start_MAVProxy_SIL('ArduCopter')
|
||||
@ -248,6 +247,7 @@ def fly_ArduCopter(viewerip=None):
|
||||
mavproxy.expect('Received [0-9]+ parameters')
|
||||
|
||||
# setup test parameters
|
||||
mavproxy.send('param set SYSID_THISMAV %u\n' % random.randint(100, 200))
|
||||
mavproxy.send("param load %s/ArduCopter.parm\n" % testdir)
|
||||
mavproxy.expect('Loaded [0-9]+ parameters')
|
||||
|
||||
@ -256,8 +256,9 @@ def fly_ArduCopter(viewerip=None):
|
||||
util.pexpect_close(sil)
|
||||
|
||||
sil = util.start_SIL('ArduCopter', height=HOME.alt)
|
||||
hquad = pexpect.spawn(hquad_cmd, logfile=sys.stdout, timeout=10)
|
||||
util.pexpect_autoclose(hquad)
|
||||
simquad = pexpect.spawn(simquad_cmd, logfile=sys.stdout, timeout=10)
|
||||
simquad.delaybeforesend = 0
|
||||
util.pexpect_autoclose(simquad)
|
||||
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=1'
|
||||
if viewerip:
|
||||
options += ' --out=%s:14550' % viewerip
|
||||
@ -277,7 +278,8 @@ def fly_ArduCopter(viewerip=None):
|
||||
|
||||
util.expect_setup_callback(mavproxy, expect_callback)
|
||||
|
||||
expect_list.extend([hquad, sil, mavproxy])
|
||||
expect_list_clear()
|
||||
expect_list_extend([simquad, sil, mavproxy])
|
||||
|
||||
# get a mavlink connection going
|
||||
try:
|
||||
@ -351,9 +353,10 @@ def fly_ArduCopter(viewerip=None):
|
||||
except pexpect.TIMEOUT, e:
|
||||
failed = True
|
||||
|
||||
mav.close()
|
||||
util.pexpect_close(mavproxy)
|
||||
util.pexpect_close(sil)
|
||||
util.pexpect_close(hquad)
|
||||
util.pexpect_close(simquad)
|
||||
|
||||
if os.path.exists('ArduCopter-valgrind.log'):
|
||||
os.chmod('ArduCopter-valgrind.log', 0644)
|
||||
|
||||
@ -2,12 +2,11 @@
|
||||
|
||||
import util, pexpect, sys, time, math, shutil, os
|
||||
from common import *
|
||||
import mavutil, random
|
||||
|
||||
# get location of scripts
|
||||
testdir=os.path.dirname(os.path.realpath(__file__))
|
||||
|
||||
sys.path.insert(0, util.reltopdir('../pymavlink'))
|
||||
import mavutil
|
||||
|
||||
HOME_LOCATION='-35.362938,149.165085,584,270'
|
||||
|
||||
@ -21,8 +20,8 @@ def takeoff(mavproxy, mav):
|
||||
# some rudder to counteract the prop torque
|
||||
mavproxy.send('rc 4 1600\n')
|
||||
|
||||
# get it moving a bit first to avoid bad fgear ground physics
|
||||
mavproxy.send('rc 3 1150\n')
|
||||
# get it moving a bit first to avoid bad JSBSim ground physics
|
||||
mavproxy.send('rc 3 1040\n')
|
||||
mav.recv_match(condition='VFR_HUD.groundspeed>3', blocking=True)
|
||||
|
||||
# a bit faster
|
||||
@ -35,7 +34,7 @@ def takeoff(mavproxy, mav):
|
||||
mavproxy.send('rc 3 1800\n')
|
||||
|
||||
# gain a bit of altitude
|
||||
wait_altitude(mav, homeloc.alt+30, homeloc.alt+40, timeout=30)
|
||||
wait_altitude(mav, homeloc.alt+30, homeloc.alt+60, timeout=30)
|
||||
|
||||
# level off
|
||||
mavproxy.send('rc 2 1500\n')
|
||||
@ -47,6 +46,7 @@ def fly_left_circuit(mavproxy, mav):
|
||||
'''fly a left circuit, 200m on a side'''
|
||||
mavproxy.send('switch 4\n')
|
||||
wait_mode(mav, 'FBWA')
|
||||
mavproxy.send('rc 3 2000\n')
|
||||
wait_level_flight(mavproxy, mav)
|
||||
|
||||
print("Flying left circuit")
|
||||
@ -64,15 +64,17 @@ def fly_left_circuit(mavproxy, mav):
|
||||
|
||||
def fly_RTL(mavproxy, mav):
|
||||
'''fly to home'''
|
||||
print("Flying home in RTL")
|
||||
mavproxy.send('switch 2\n')
|
||||
wait_mode(mav, 'RTL')
|
||||
wait_location(mav, homeloc, accuracy=30,
|
||||
wait_location(mav, homeloc, accuracy=80,
|
||||
target_altitude=100, height_accuracy=10)
|
||||
print("RTL Complete")
|
||||
return True
|
||||
|
||||
def fly_LOITER(mavproxy, mav):
|
||||
'''loiter where we are'''
|
||||
print("Testing LOITER")
|
||||
mavproxy.send('switch 3\n')
|
||||
wait_mode(mav, 'LOITER')
|
||||
while True:
|
||||
@ -193,17 +195,18 @@ def fly_ArduPlane(viewerip=None):
|
||||
you can pass viewerip as an IP address to optionally send fg and
|
||||
mavproxy packets too for local viewing of the flight in real time
|
||||
'''
|
||||
global expect_list, homeloc
|
||||
global homeloc
|
||||
|
||||
options = '--fgout=127.0.0.1:5502 --fgin=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=5'
|
||||
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=5'
|
||||
if viewerip:
|
||||
options += ' --out=%s:14550' % viewerip
|
||||
options += " --out=%s:14550" % viewerip
|
||||
|
||||
sil = util.start_SIL('ArduPlane', wipe=True)
|
||||
mavproxy = util.start_MAVProxy_SIL('ArduPlane', options=options)
|
||||
mavproxy.expect('Received [0-9]+ parameters')
|
||||
|
||||
# setup test parameters
|
||||
mavproxy.send('param set SYSID_THISMAV %u\n' % random.randint(100, 200))
|
||||
mavproxy.send("param load %s/ArduPlane.parm\n" % testdir)
|
||||
mavproxy.expect('Loaded [0-9]+ parameters')
|
||||
|
||||
@ -211,6 +214,17 @@ def fly_ArduPlane(viewerip=None):
|
||||
util.pexpect_close(mavproxy)
|
||||
util.pexpect_close(sil)
|
||||
|
||||
cmd = util.reltopdir("Tools/autotest/jsbsim/runsim.py")
|
||||
cmd += " --home=%s --script=%s/rascal_test.xml" % (
|
||||
HOME_LOCATION, util.reltopdir("Tools/autotest/jsbsim"))
|
||||
if viewerip:
|
||||
cmd += " --fgout=%s:5503" % viewerip
|
||||
|
||||
runsim = pexpect.spawn(cmd, logfile=sys.stdout, timeout=10)
|
||||
runsim.delaybeforesend = 0
|
||||
util.pexpect_autoclose(runsim)
|
||||
runsim.expect('Simulator ready to fly')
|
||||
|
||||
sil = util.start_SIL('ArduPlane')
|
||||
mavproxy = util.start_MAVProxy_SIL('ArduPlane', options=options)
|
||||
mavproxy.expect('Logging to (\S+)')
|
||||
@ -227,57 +241,10 @@ def fly_ArduPlane(viewerip=None):
|
||||
|
||||
util.expect_setup_callback(mavproxy, expect_callback)
|
||||
|
||||
fg_scenery = os.getenv("FG_SCENERY")
|
||||
if not fg_scenery:
|
||||
raise RuntimeError("You must set the FG_SCENERY environment variable")
|
||||
expect_list_clear()
|
||||
expect_list_extend([runsim, sil, mavproxy])
|
||||
|
||||
fgear_options = '''
|
||||
--generic=socket,in,25,,5502,udp,MAVLink \
|
||||
--generic=socket,out,50,,5501,udp,MAVLink \
|
||||
--aircraft=Rascal110-JSBSim \
|
||||
--control=mouse \
|
||||
--disable-intro-music \
|
||||
--airport=YKRY \
|
||||
--lat=-35.362851 \
|
||||
--lon=149.165223 \
|
||||
--heading=350 \
|
||||
--altitude=0 \
|
||||
--geometry=650x550 \
|
||||
--jpg-httpd=5502 \
|
||||
--disable-anti-alias-hud \
|
||||
--disable-hud-3d \
|
||||
--disable-enhanced-lighting \
|
||||
--disable-distance-attenuation \
|
||||
--disable-horizon-effect \
|
||||
--shading-flat \
|
||||
--disable-textures \
|
||||
--timeofday=noon \
|
||||
--fdm=jsb \
|
||||
--disable-sound \
|
||||
--disable-fullscreen \
|
||||
--disable-random-objects \
|
||||
--disable-ai-models \
|
||||
--shading-flat \
|
||||
--fog-disable \
|
||||
--disable-specular-highlight \
|
||||
--disable-skyblend \
|
||||
--fg-scenery=%s \
|
||||
--disable-anti-alias-hud \
|
||||
--wind=0@0 \
|
||||
''' % fg_scenery
|
||||
# start fgear
|
||||
if os.getenv('DISPLAY'):
|
||||
cmd = 'fgfs %s' % fgear_options
|
||||
fgear = pexpect.spawn(cmd, logfile=sys.stdout, timeout=10)
|
||||
else:
|
||||
cmd = "xvfb-run --server-num=42 -s '-screen 0 800x600x24' fgfs --enable-wireframe %s" % fgear_options
|
||||
util.kill_xvfb(42)
|
||||
fgear = pexpect.spawn(cmd, logfile=sys.stdout, timeout=10)
|
||||
fgear.xvfb_server_num = 42
|
||||
util.pexpect_autoclose(fgear)
|
||||
fgear.expect('creating 3D noise', timeout=30)
|
||||
|
||||
expect_list.extend([fgear, sil, mavproxy])
|
||||
print("Started simulator")
|
||||
|
||||
# get a mavlink connection going
|
||||
try:
|
||||
@ -293,7 +260,8 @@ def fly_ArduPlane(viewerip=None):
|
||||
try:
|
||||
mav.wait_heartbeat()
|
||||
setup_rc(mavproxy)
|
||||
mav.recv_match(type='GPS_RAW', condition='GPS_RAW.lat != 0 and GPS_RAW.alt != 0 and VFR_HUD.alt != 0',
|
||||
mavproxy.expect('APM: init home')
|
||||
mav.recv_match(type='GPS_RAW', condition='MAV.flightmode!="INITIALISING" and GPS_RAW.fix_type==2 and GPS_RAW.lat != 0 and GPS_RAW.alt != 0 and VFR_HUD.alt > 10',
|
||||
blocking=True)
|
||||
homeloc = current_location(mav)
|
||||
print("Home location: %s" % homeloc)
|
||||
@ -319,9 +287,10 @@ def fly_ArduPlane(viewerip=None):
|
||||
except pexpect.TIMEOUT, e:
|
||||
failed = True
|
||||
|
||||
mav.close()
|
||||
util.pexpect_close(mavproxy)
|
||||
util.pexpect_close(sil)
|
||||
util.pexpect_close(fgear)
|
||||
util.pexpect_close(runsim)
|
||||
|
||||
if os.path.exists('ArduPlane-valgrind.log'):
|
||||
os.chmod('ArduPlane-valgrind.log', 0644)
|
||||
|
||||
@ -2,10 +2,13 @@
|
||||
# APM automatic test suite
|
||||
# Andrew Tridgell, October 2011
|
||||
|
||||
import pexpect, os, util, sys, shutil
|
||||
import arducopter, arduplane
|
||||
import pexpect, os, sys, shutil, atexit
|
||||
import optparse, fnmatch, time, glob, traceback
|
||||
|
||||
sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), 'pysim'))
|
||||
sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), 'pymavlink'))
|
||||
import util, arducopter, arduplane
|
||||
|
||||
os.environ['PYTHONUNBUFFERED'] = '1'
|
||||
|
||||
os.putenv('TMPDIR', util.reltopdir('tmp'))
|
||||
@ -165,9 +168,6 @@ def run_step(step):
|
||||
return arducopter.fly_ArduCopter(viewerip=opts.viewerip)
|
||||
|
||||
if step == 'fly.ArduPlane':
|
||||
if not opts.experimental:
|
||||
print("DISABLED: use --experimental to enable fly.ArduPlane")
|
||||
return True
|
||||
return arduplane.fly_ArduPlane(viewerip=opts.viewerip)
|
||||
|
||||
if step == 'convertgpx':
|
||||
@ -235,6 +235,7 @@ def run_tests(steps):
|
||||
passed = True
|
||||
failed = []
|
||||
for step in steps:
|
||||
util.pexpect_close_all()
|
||||
if skip_step(step):
|
||||
continue
|
||||
|
||||
@ -253,13 +254,14 @@ def run_tests(steps):
|
||||
print(">>>> FAILED STEP: %s at %s (%s)" % (step, time.asctime(), msg))
|
||||
traceback.print_exc(file=sys.stdout)
|
||||
results.add(step, '<span class="failed-text">FAILED</span>', time.time() - t1)
|
||||
util.pexpect_close_all()
|
||||
continue
|
||||
results.add(step, '<span class="passed-text">PASSED</span>', time.time() - t1)
|
||||
print(">>>> PASSED STEP: %s at %s" % (step, time.asctime()))
|
||||
if not passed:
|
||||
print("FAILED %u tests: %s" % (len(failed), failed))
|
||||
|
||||
util.pexpect_close_all()
|
||||
|
||||
results.addglob("Google Earth track", '*.kmz')
|
||||
results.addfile('Full Logs', 'autotest-output.txt')
|
||||
results.addglob('DataFlash Log', '*.flashlog')
|
||||
@ -284,6 +286,8 @@ if lck is None:
|
||||
print("autotest is locked - exiting")
|
||||
sys.exit(0)
|
||||
|
||||
atexit.register(util.pexpect_close_all)
|
||||
|
||||
try:
|
||||
if not run_tests(steps):
|
||||
sys.exit(1)
|
||||
|
||||
@ -4,14 +4,22 @@ import util, pexpect, time, math
|
||||
# messages. This keeps the output to stdout flowing
|
||||
expect_list = []
|
||||
|
||||
def expect_list_clear():
|
||||
'''clear the expect list'''
|
||||
global expect_list
|
||||
for p in expect_list[:]:
|
||||
expect_list.remove(p)
|
||||
|
||||
def expect_list_extend(list):
|
||||
'''extend the expect list'''
|
||||
global expect_list
|
||||
expect_list.extend(list)
|
||||
|
||||
def idle_hook(mav):
|
||||
'''called when waiting for a mavlink message'''
|
||||
global expect_list
|
||||
for p in expect_list:
|
||||
try:
|
||||
p.read_nonblocking(100, timeout=0)
|
||||
except pexpect.TIMEOUT:
|
||||
pass
|
||||
util.pexpect_drain(p)
|
||||
|
||||
def message_hook(mav, msg):
|
||||
'''called as each mavlink msg is received'''
|
||||
@ -25,12 +33,7 @@ def expect_callback(e):
|
||||
for p in expect_list:
|
||||
if p == e:
|
||||
continue
|
||||
try:
|
||||
while p.read_nonblocking(100, timeout=0):
|
||||
pass
|
||||
except pexpect.TIMEOUT:
|
||||
pass
|
||||
|
||||
util.pexpect_drain(p)
|
||||
|
||||
class location(object):
|
||||
'''represent a GPS coordinate'''
|
||||
|
||||
121
Tools/autotest/fakepos.py
Executable file
121
Tools/autotest/fakepos.py
Executable file
@ -0,0 +1,121 @@
|
||||
#!/usr/bin/env python
|
||||
|
||||
import socket, struct, time
|
||||
from math import *
|
||||
|
||||
class udp_out(object):
|
||||
'''a UDP output socket'''
|
||||
def __init__(self, device):
|
||||
a = device.split(':')
|
||||
if len(a) != 2:
|
||||
print("UDP ports must be specified as host:port")
|
||||
sys.exit(1)
|
||||
self.port = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
||||
self.destination_addr = (a[0], int(a[1]))
|
||||
self.port.setblocking(0)
|
||||
self.last_address = None
|
||||
|
||||
def recv(self,n=None):
|
||||
try:
|
||||
data, self.last_address = self.port.recvfrom(300)
|
||||
except socket.error as e:
|
||||
if e.errno in [ 11, 35 ]:
|
||||
return ""
|
||||
raise
|
||||
return data
|
||||
|
||||
def write(self, buf):
|
||||
try:
|
||||
self.port.sendto(buf, self.destination_addr)
|
||||
except socket.error:
|
||||
pass
|
||||
|
||||
|
||||
def ft2m(x):
|
||||
return x * 0.3048
|
||||
|
||||
def m2ft(x):
|
||||
return x / 0.3048
|
||||
|
||||
def kt2mps(x):
|
||||
return x * 0.514444444
|
||||
|
||||
def mps2kt(x):
|
||||
return x / 0.514444444
|
||||
|
||||
udp = udp_out("127.0.0.1:5501")
|
||||
|
||||
latitude = -35
|
||||
longitude = 149
|
||||
altitude = 600.0
|
||||
heading = 0.0
|
||||
speedN = 0
|
||||
speedE = 0.0
|
||||
xAccel = 0.0
|
||||
yAccel = 0.0
|
||||
zAccel = 0.0
|
||||
rollRate = 0.0
|
||||
pitchRate = 0.0
|
||||
yawRate = 0.0
|
||||
rollDeg = 0.0
|
||||
pitchDeg = 0.0
|
||||
yawDeg = 0.0
|
||||
airspeed = 0
|
||||
magic = 0x4c56414e
|
||||
|
||||
deltaT = 0.005
|
||||
rollDeg = 45
|
||||
pitchDeg = 0
|
||||
|
||||
pitchMax = None
|
||||
rollMax = None
|
||||
|
||||
if True:
|
||||
pitchRate = 1
|
||||
pitchMax = 45
|
||||
rollMax = 45
|
||||
|
||||
while True:
|
||||
|
||||
xAccel = sin(radians(pitchDeg)) * cos(radians(rollDeg))
|
||||
yAccel = -sin(radians(rollDeg)) * cos(radians(pitchDeg))
|
||||
zAccel = -cos(radians(rollDeg)) * cos(radians(pitchDeg))
|
||||
scale = 9.81 / sqrt((xAccel*xAccel)+(yAccel*yAccel)+(zAccel*zAccel))
|
||||
xAccel *= scale;
|
||||
yAccel *= scale;
|
||||
zAccel *= scale;
|
||||
|
||||
buf = struct.pack('<16dI',
|
||||
latitude, longitude, altitude, heading,
|
||||
speedN, speedE,
|
||||
xAccel, yAccel, zAccel,
|
||||
rollRate, pitchRate, yawRate,
|
||||
rollDeg, pitchDeg, yawDeg,
|
||||
airspeed, magic)
|
||||
udp.write(buf)
|
||||
time.sleep(deltaT)
|
||||
|
||||
yawDeg += yawRate * deltaT
|
||||
if yawDeg > 180:
|
||||
yawDeg -= 360
|
||||
if yawDeg < -180:
|
||||
yawDeg += 360
|
||||
heading = yawDeg
|
||||
|
||||
if pitchMax is not None and fabs(pitchDeg) > pitchMax:
|
||||
pitchRate = -pitchRate
|
||||
|
||||
if rollMax is not None and fabs(rollDeg) > rollMax:
|
||||
rollRate = -rollRate
|
||||
|
||||
pitchDeg += pitchRate * deltaT
|
||||
if pitchDeg > 180:
|
||||
pitchDeg -= 360
|
||||
if pitchDeg < -180:
|
||||
pitchDeg += 360
|
||||
|
||||
rollDeg += rollRate * deltaT
|
||||
if rollDeg > 180:
|
||||
rollDeg -= 360
|
||||
if rollDeg < -180:
|
||||
rollDeg += 360
|
||||
28
Tools/autotest/fg_plane_view.sh
Executable file
28
Tools/autotest/fg_plane_view.sh
Executable file
@ -0,0 +1,28 @@
|
||||
#!/bin/sh
|
||||
|
||||
AUTOTESTDIR=$(dirname $0)
|
||||
|
||||
fgfs \
|
||||
--native-fdm=socket,in,10,,5503,udp \
|
||||
--fdm=external \
|
||||
--aircraft=Rascal110-JSBSim \
|
||||
--control=mouse \
|
||||
--fg-aircraft="$AUTOTESTDIR/aircraft" \
|
||||
--disable-intro-music \
|
||||
--airport=YKRY \
|
||||
--geometry=650x550 \
|
||||
--bpp=32 \
|
||||
--disable-anti-alias-hud \
|
||||
--disable-hud-3d \
|
||||
--disable-horizon-effect \
|
||||
--timeofday=noon \
|
||||
--disable-sound \
|
||||
--disable-fullscreen \
|
||||
--disable-random-objects \
|
||||
--disable-ai-models \
|
||||
--fog-disable \
|
||||
--disable-specular-highlight \
|
||||
--disable-skyblend \
|
||||
--disable-anti-alias-hud \
|
||||
--wind=0@0 \
|
||||
$*
|
||||
28
Tools/autotest/fg_quad_view.sh
Executable file
28
Tools/autotest/fg_quad_view.sh
Executable file
@ -0,0 +1,28 @@
|
||||
#!/bin/sh
|
||||
|
||||
AUTOTESTDIR=$(dirname $0)
|
||||
|
||||
fgfs \
|
||||
--native-fdm=socket,in,10,,5503,udp \
|
||||
--fdm=external \
|
||||
--aircraft=arducopter \
|
||||
--control=mouse \
|
||||
--fg-aircraft="$AUTOTESTDIR/aircraft" \
|
||||
--disable-intro-music \
|
||||
--airport=YKRY \
|
||||
--geometry=650x550 \
|
||||
--bpp=32 \
|
||||
--disable-anti-alias-hud \
|
||||
--disable-hud-3d \
|
||||
--disable-horizon-effect \
|
||||
--timeofday=noon \
|
||||
--disable-sound \
|
||||
--disable-fullscreen \
|
||||
--disable-random-objects \
|
||||
--disable-ai-models \
|
||||
--fog-disable \
|
||||
--disable-specular-highlight \
|
||||
--disable-skyblend \
|
||||
--disable-anti-alias-hud \
|
||||
--wind=0@0 \
|
||||
$*
|
||||
2
Tools/autotest/jsbsim/fgout.xml
Normal file
2
Tools/autotest/jsbsim/fgout.xml
Normal file
@ -0,0 +1,2 @@
|
||||
<?xml version="1.0"?>
|
||||
<output name="localhost" type="FLIGHTGEAR" port="5123" protocol="udp" rate="1000"/>
|
||||
33
Tools/autotest/jsbsim/rascal_test.xml
Normal file
33
Tools/autotest/jsbsim/rascal_test.xml
Normal file
@ -0,0 +1,33 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<?xml-stylesheet type="text/xsl" href="http://jsbsim.sf.net/JSBSimScript.xsl"?>
|
||||
<runscript xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
|
||||
xsi:noNamespaceSchemaLocation="http://jsbsim.sf.net/JSBSimScript.xsd"
|
||||
name="Testing Rascal110">
|
||||
|
||||
<description>
|
||||
test ArduPlane using Rascal110 and JSBSim
|
||||
</description>
|
||||
|
||||
<use aircraft="Rascal" initialize="reset_CMAC"/>
|
||||
|
||||
<!-- we control the servos via the jsbsim console
|
||||
interface on TCP 5124 -->
|
||||
<input port="5124"/>
|
||||
|
||||
<run start="0" end="10000000" dt="0.001">
|
||||
<property value="0"> simulation/notify-time-trigger </property>
|
||||
|
||||
<event name="start engine">
|
||||
<condition> simulation/sim-time-sec le 0.01 </condition>
|
||||
<set name="propulsion/engine[0]/set-running" value="1"/>
|
||||
<notify/>
|
||||
</event>
|
||||
|
||||
<event name="Trim">
|
||||
<condition>simulation/sim-time-sec ge 0.01</condition>
|
||||
<set name="simulation/do_simple_trim" value="2"/>
|
||||
<notify/>
|
||||
</event>
|
||||
</run>
|
||||
|
||||
</runscript>
|
||||
262
Tools/autotest/jsbsim/runsim.py
Executable file
262
Tools/autotest/jsbsim/runsim.py
Executable file
@ -0,0 +1,262 @@
|
||||
#!/usr/bin/env python
|
||||
# run a jsbsim model as a child process
|
||||
|
||||
import sys, os, pexpect, fdpexpect, socket
|
||||
import math, time, select, struct, signal
|
||||
|
||||
sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..', 'pysim'))
|
||||
|
||||
import util, fgFDM, atexit
|
||||
|
||||
class control_state(object):
|
||||
def __init__(self):
|
||||
self.aileron = 0
|
||||
self.elevator = 0
|
||||
self.throttle = 0
|
||||
self.rudder = 0
|
||||
self.ground_height = 0
|
||||
|
||||
sitl_state = control_state()
|
||||
|
||||
|
||||
def interpret_address(addrstr):
|
||||
'''interpret a IP:port string'''
|
||||
a = addrstr.split(':')
|
||||
a[1] = int(a[1])
|
||||
return tuple(a)
|
||||
|
||||
def jsb_set(variable, value):
|
||||
'''set a JSBSim variable'''
|
||||
global jsb_console
|
||||
jsb_console.send('set %s %s\r\n' % (variable, value))
|
||||
|
||||
def setup_home(home):
|
||||
'''setup home location'''
|
||||
v = home.split(',')
|
||||
if len(v) != 4:
|
||||
print("home should be lat,lng,alt,hdg")
|
||||
sys.exit(1)
|
||||
latitude = float(v[0])
|
||||
longitude = float(v[1])
|
||||
altitude = float(v[2])
|
||||
heading = float(v[3])
|
||||
sitl_state.ground_height = altitude
|
||||
|
||||
jsb_set('position/lat-gc-deg', latitude)
|
||||
jsb_set('position/long-gc-deg', longitude)
|
||||
jsb_set('attitude/psi-rad', math.radians(heading))
|
||||
jsb_set('attitude/phi-rad', 0)
|
||||
jsb_set('attitude/theta-rad', 0)
|
||||
|
||||
def process_sitl_input(buf):
|
||||
'''process control changes from SITL sim'''
|
||||
pwm = list(struct.unpack('<11H', buf))
|
||||
aileron = (pwm[0]-1500)/500.0
|
||||
elevator = (pwm[1]-1500)/500.0
|
||||
throttle = (pwm[2]-1000)/1000.0
|
||||
rudder = (pwm[3]-1500)/500.0
|
||||
|
||||
if aileron != sitl_state.aileron:
|
||||
jsb_set('fcs/aileron-cmd-norm', aileron)
|
||||
sitl_state.aileron = aileron
|
||||
if elevator != sitl_state.elevator:
|
||||
jsb_set('fcs/elevator-cmd-norm', elevator)
|
||||
sitl_state.elevator = elevator
|
||||
if rudder != sitl_state.rudder:
|
||||
jsb_set('fcs/rudder-cmd-norm', rudder)
|
||||
sitl_state.rudder = rudder
|
||||
if throttle != sitl_state.throttle:
|
||||
jsb_set('fcs/throttle-cmd-norm', throttle)
|
||||
sitl_state.throttle = throttle
|
||||
|
||||
def process_jsb_input(buf):
|
||||
'''process FG FDM input from JSBSim'''
|
||||
global fdm, fg_out, sim_out
|
||||
fdm.parse(buf)
|
||||
if fg_out:
|
||||
try:
|
||||
agl = fdm.get('agl', units='meters')
|
||||
fdm.set('altitude', agl+sitl_state.ground_height, units='meters')
|
||||
fdm.set('rpm', sitl_state.throttle*1000)
|
||||
fg_out.send(fdm.pack())
|
||||
except socket.error as e:
|
||||
if e.errno not in [ 111 ]:
|
||||
raise
|
||||
|
||||
simbuf = struct.pack('<16dI',
|
||||
fdm.get('latitude', units='degrees'),
|
||||
fdm.get('longitude', units='degrees'),
|
||||
fdm.get('altitude', units='meters'),
|
||||
fdm.get('psi', units='degrees'),
|
||||
fdm.get('v_north', units='mps'),
|
||||
fdm.get('v_east', units='mps'),
|
||||
fdm.get('A_X_pilot', units='mpss'),
|
||||
fdm.get('A_Y_pilot', units='mpss'),
|
||||
fdm.get('A_Z_pilot', units='mpss'),
|
||||
fdm.get('phidot', units='dps'),
|
||||
fdm.get('thetadot', units='dps'),
|
||||
fdm.get('psidot', units='dps'),
|
||||
fdm.get('phi', units='degrees'),
|
||||
fdm.get('theta', units='degrees'),
|
||||
fdm.get('psi', units='degrees'),
|
||||
fdm.get('vcas', units='mps'),
|
||||
0x4c56414e)
|
||||
try:
|
||||
sim_out.send(simbuf)
|
||||
except socket.error as e:
|
||||
if e.errno not in [ 111 ]:
|
||||
raise
|
||||
|
||||
|
||||
|
||||
##################
|
||||
# main program
|
||||
from optparse import OptionParser
|
||||
parser = OptionParser("hil_quad.py [options]")
|
||||
parser.add_option("--simin", help="SITL input (IP:port)", default="127.0.0.1:5502")
|
||||
parser.add_option("--simout", help="SITL output (IP:port)", default="127.0.0.1:5501")
|
||||
parser.add_option("--fgout", help="FG display output (IP:port)")
|
||||
parser.add_option("--home", type='string', help="home lat,lng,alt,hdg (required)")
|
||||
parser.add_option("--script", type='string', help='jsbsim model script (required)')
|
||||
parser.add_option("--options", type='string', help='jsbsim startup options')
|
||||
|
||||
(opts, args) = parser.parse_args()
|
||||
|
||||
for m in [ 'home', 'script' ]:
|
||||
if not opts.__dict__[m]:
|
||||
print("Missing required option '%s'" % m)
|
||||
parser.print_help()
|
||||
sys.exit(1)
|
||||
|
||||
os.chdir(util.reltopdir('Tools/autotest'))
|
||||
|
||||
# kill off child when we exit
|
||||
atexit.register(util.pexpect_close_all)
|
||||
|
||||
# start child
|
||||
cmd = "JSBSim --realtime --suspend --nice --simulation-rate=1000 --logdirectivefile=jsbsim/fgout.xml --script=%s" % opts.script
|
||||
if opts.options:
|
||||
cmd += ' %s' % opts.options
|
||||
|
||||
jsb = pexpect.spawn(cmd, logfile=sys.stdout, timeout=10)
|
||||
jsb.delaybeforesend = 0
|
||||
util.pexpect_autoclose(jsb)
|
||||
i = jsb.expect(["Successfully bound to socket for input on port (\d+)",
|
||||
"Could not bind to socket for input"])
|
||||
if i == 1:
|
||||
print("Failed to start JSBSim - is another copy running?")
|
||||
sys.exit(1)
|
||||
jsb_out_address = interpret_address("127.0.0.1:%u" % int(jsb.match.group(1)))
|
||||
jsb.expect("Creating UDP socket on port (\d+)")
|
||||
jsb_in_address = interpret_address("127.0.0.1:%u" % int(jsb.match.group(1)))
|
||||
jsb.expect("Successfully connected to socket for output")
|
||||
jsb.expect("JSBSim Execution beginning")
|
||||
|
||||
# setup output to jsbsim
|
||||
print("JSBSim console on %s" % str(jsb_out_address))
|
||||
jsb_out = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
|
||||
jsb_out.connect(jsb_out_address)
|
||||
jsb_console = fdpexpect.fdspawn(jsb_out.fileno(), logfile=sys.stdout)
|
||||
jsb_console.delaybeforesend = 0
|
||||
|
||||
# setup input from jsbsim
|
||||
print("JSBSim FG FDM input on %s" % str(jsb_in_address))
|
||||
jsb_in = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
||||
jsb_in.bind(jsb_in_address)
|
||||
jsb_in.setblocking(0)
|
||||
|
||||
# socket addresses
|
||||
sim_out_address = interpret_address(opts.simout)
|
||||
sim_in_address = interpret_address(opts.simin)
|
||||
|
||||
# setup input from SITL sim
|
||||
sim_in = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
||||
sim_in.bind(sim_in_address)
|
||||
sim_in.setblocking(0)
|
||||
|
||||
# setup output to SITL sim
|
||||
sim_out = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
||||
sim_out.connect(interpret_address(opts.simout))
|
||||
sim_out.setblocking(0)
|
||||
|
||||
# setup possible output to FlightGear for display
|
||||
fg_out = None
|
||||
if opts.fgout:
|
||||
fg_out = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
||||
fg_out.connect(interpret_address(opts.fgout))
|
||||
|
||||
|
||||
setup_home(opts.home)
|
||||
|
||||
fdm = fgFDM.fgFDM()
|
||||
|
||||
jsb_console.send('info\n')
|
||||
jsb_console.send('resume\n')
|
||||
jsb.expect("trim computation time")
|
||||
time.sleep(1.5)
|
||||
jsb_console.logfile = None
|
||||
|
||||
print("Simulator ready to fly")
|
||||
|
||||
def main_loop():
|
||||
'''run main loop'''
|
||||
last_report = time.time()
|
||||
frame_count = 0
|
||||
|
||||
while True:
|
||||
rin = [jsb_in.fileno(), sim_in.fileno(), jsb_console.fileno(), jsb.fileno()]
|
||||
try:
|
||||
(rin, win, xin) = select.select(rin, [], [], 1.0)
|
||||
except select.error:
|
||||
util.check_parent()
|
||||
continue
|
||||
|
||||
if jsb_in.fileno() in rin:
|
||||
buf = jsb_in.recv(fdm.packet_size())
|
||||
process_jsb_input(buf)
|
||||
frame_count += 1
|
||||
|
||||
if sim_in.fileno() in rin:
|
||||
simbuf = sim_in.recv(22)
|
||||
process_sitl_input(simbuf)
|
||||
|
||||
# show any jsbsim console output
|
||||
if jsb_console.fileno() in rin:
|
||||
util.pexpect_drain(jsb_console)
|
||||
if jsb.fileno() in rin:
|
||||
util.pexpect_drain(jsb)
|
||||
|
||||
if time.time() - last_report > 0.5:
|
||||
print("FPS %u asl=%.1f agl=%.1f roll=%.1f pitch=%.1f a=(%.2f %.2f %.2f)" % (
|
||||
frame_count / (time.time() - last_report),
|
||||
fdm.get('altitude', units='meters'),
|
||||
fdm.get('agl', units='meters'),
|
||||
fdm.get('phi', units='degrees'),
|
||||
fdm.get('theta', units='degrees'),
|
||||
fdm.get('A_X_pilot', units='mpss'),
|
||||
fdm.get('A_Y_pilot', units='mpss'),
|
||||
fdm.get('A_Z_pilot', units='mpss')))
|
||||
|
||||
frame_count = 0
|
||||
last_report = time.time()
|
||||
|
||||
def exit_handler():
|
||||
'''exit the sim'''
|
||||
signal.signal(signal.SIGINT, signal.SIG_IGN)
|
||||
signal.signal(signal.SIGTERM, signal.SIG_IGN)
|
||||
# JSBSim really doesn't like to die ...
|
||||
if getattr(jsb, 'pid', None) is not None:
|
||||
os.kill(jsb.pid, signal.SIGKILL)
|
||||
jsb_console.send('quit\n')
|
||||
jsb.close(force=True)
|
||||
util.pexpect_close_all()
|
||||
sys.exit(1)
|
||||
|
||||
signal.signal(signal.SIGINT, exit_handler)
|
||||
signal.signal(signal.SIGTERM, exit_handler)
|
||||
|
||||
try:
|
||||
main_loop()
|
||||
except:
|
||||
exit_handler()
|
||||
raise
|
||||
34
Tools/autotest/pymavlink/mavextra.py
Normal file
34
Tools/autotest/pymavlink/mavextra.py
Normal file
@ -0,0 +1,34 @@
|
||||
#!/usr/bin/env python
|
||||
'''
|
||||
useful extra functions for use by mavlink clients
|
||||
|
||||
Copyright Andrew Tridgell 2011
|
||||
Released under GNU GPL version 3 or later
|
||||
'''
|
||||
|
||||
from math import *
|
||||
|
||||
|
||||
def norm_heading(RAW_IMU, ATTITUDE, declination):
|
||||
'''calculate heading from RAW_IMU and ATTITUDE'''
|
||||
xmag = RAW_IMU.xmag
|
||||
ymag = RAW_IMU.ymag
|
||||
zmag = RAW_IMU.zmag
|
||||
pitch = ATTITUDE.pitch
|
||||
roll = ATTITUDE.roll
|
||||
|
||||
headX = xmag*cos(pitch) + ymag*sin(roll)*sin(pitch) + zmag*cos(roll)*sin(pitch)
|
||||
headY = ymag*cos(roll) - zmag*sin(roll)
|
||||
heading = atan2(-headY, headX)
|
||||
heading = fmod(degrees(heading) + declination + 360, 360)
|
||||
return heading
|
||||
|
||||
def TrueHeading(SERVO_OUTPUT_RAW):
|
||||
rc3_min = 1060
|
||||
rc3_max = 1850
|
||||
p = float(SERVO_OUTPUT_RAW.servo3_raw - rc3_min) / (rc3_max - rc3_min)
|
||||
return 172 + (1.0-p)*(326 - 172)
|
||||
|
||||
def kmh(mps):
|
||||
'''convert m/s to Km/h'''
|
||||
return mps*3.6
|
||||
4580
Tools/autotest/pymavlink/mavlink.py
Normal file
4580
Tools/autotest/pymavlink/mavlink.py
Normal file
File diff suppressed because it is too large
Load Diff
653
Tools/autotest/pymavlink/mavutil.py
Normal file
653
Tools/autotest/pymavlink/mavutil.py
Normal file
@ -0,0 +1,653 @@
|
||||
#!/usr/bin/env python
|
||||
'''
|
||||
mavlink python utility functions
|
||||
|
||||
Copyright Andrew Tridgell 2011
|
||||
Released under GNU GPL version 3 or later
|
||||
'''
|
||||
|
||||
import socket, math, struct, time, os, fnmatch, array, sys
|
||||
from math import *
|
||||
from mavextra import *
|
||||
|
||||
if os.getenv('MAVLINK10'):
|
||||
import mavlinkv10 as mavlink
|
||||
else:
|
||||
import mavlink
|
||||
|
||||
def evaluate_expression(expression, vars):
|
||||
'''evaluation an expression'''
|
||||
try:
|
||||
v = eval(expression, globals(), vars)
|
||||
except NameError:
|
||||
return None
|
||||
return v
|
||||
|
||||
def evaluate_condition(condition, vars):
|
||||
'''evaluation a conditional (boolean) statement'''
|
||||
if condition is None:
|
||||
return True
|
||||
v = evaluate_expression(condition, vars)
|
||||
if v is None:
|
||||
return False
|
||||
return v
|
||||
|
||||
|
||||
class mavfile(object):
|
||||
'''a generic mavlink port'''
|
||||
def __init__(self, fd, address, source_system=255):
|
||||
self.fd = fd
|
||||
self.address = address
|
||||
self.messages = { 'MAV' : self }
|
||||
if mavlink.WIRE_PROTOCOL_VERSION == "1.0":
|
||||
self.messages['HOME'] = mavlink.MAVLink_gps_raw_int_message(0,0,0,0,0,0,0,0,0,0)
|
||||
mavlink.MAVLink_waypoint_message = mavlink.MAVLink_mission_item_message
|
||||
else:
|
||||
self.messages['HOME'] = mavlink.MAVLink_gps_raw_message(0,0,0,0,0,0,0,0,0)
|
||||
self.params = {}
|
||||
self.mav = None
|
||||
self.target_system = 0
|
||||
self.target_component = 0
|
||||
self.mav = mavlink.MAVLink(self, srcSystem=source_system)
|
||||
self.mav.robust_parsing = True
|
||||
self.logfile = None
|
||||
self.logfile_raw = None
|
||||
self.param_fetch_in_progress = False
|
||||
self.param_fetch_complete = False
|
||||
self.start_time = time.time()
|
||||
self.flightmode = "UNKNOWN"
|
||||
self.timestamp = 0
|
||||
self.message_hooks = []
|
||||
self.idle_hooks = []
|
||||
|
||||
def recv(self, n=None):
|
||||
'''default recv method'''
|
||||
raise RuntimeError('no recv() method supplied')
|
||||
|
||||
def close(self, n=None):
|
||||
'''default close method'''
|
||||
raise RuntimeError('no close() method supplied')
|
||||
|
||||
def write(self, buf):
|
||||
'''default write method'''
|
||||
raise RuntimeError('no write() method supplied')
|
||||
|
||||
def pre_message(self):
|
||||
'''default pre message call'''
|
||||
return
|
||||
|
||||
def post_message(self, msg):
|
||||
'''default post message call'''
|
||||
msg._timestamp = time.time()
|
||||
type = msg.get_type()
|
||||
self.messages[type] = msg
|
||||
self.timestamp = msg._timestamp
|
||||
if type == 'HEARTBEAT':
|
||||
self.target_system = msg.get_srcSystem()
|
||||
self.target_component = msg.get_srcComponent()
|
||||
if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
|
||||
self.flightmode = mode_string_v10(msg)
|
||||
elif type == 'PARAM_VALUE':
|
||||
self.params[str(msg.param_id)] = msg.param_value
|
||||
if msg.param_index+1 == msg.param_count:
|
||||
self.param_fetch_in_progress = False
|
||||
self.param_fetch_complete = True
|
||||
elif type == 'SYS_STATUS' and mavlink.WIRE_PROTOCOL_VERSION == '0.9':
|
||||
self.flightmode = mode_string_v09(msg)
|
||||
elif type == 'GPS_RAW':
|
||||
if self.messages['HOME'].fix_type < 2:
|
||||
self.messages['HOME'] = msg
|
||||
for hook in self.message_hooks:
|
||||
hook(self, msg)
|
||||
|
||||
|
||||
def recv_msg(self):
|
||||
'''message receive routine'''
|
||||
self.pre_message()
|
||||
while True:
|
||||
n = self.mav.bytes_needed()
|
||||
s = self.recv(n)
|
||||
if len(s) == 0 and len(self.mav.buf) == 0:
|
||||
return None
|
||||
if self.logfile_raw:
|
||||
self.logfile_raw.write(str(s))
|
||||
msg = self.mav.parse_char(s)
|
||||
if msg:
|
||||
self.post_message(msg)
|
||||
return msg
|
||||
|
||||
def recv_match(self, condition=None, type=None, blocking=False):
|
||||
'''recv the next MAVLink message that matches the given condition'''
|
||||
while True:
|
||||
m = self.recv_msg()
|
||||
if m is None:
|
||||
if blocking:
|
||||
for hook in self.idle_hooks:
|
||||
hook(self)
|
||||
time.sleep(0.01)
|
||||
continue
|
||||
return None
|
||||
if type is not None and type != m.get_type():
|
||||
continue
|
||||
if not evaluate_condition(condition, self.messages):
|
||||
continue
|
||||
return m
|
||||
|
||||
def setup_logfile(self, logfile, mode='w'):
|
||||
'''start logging to the given logfile, with timestamps'''
|
||||
self.logfile = open(logfile, mode=mode)
|
||||
|
||||
def setup_logfile_raw(self, logfile, mode='w'):
|
||||
'''start logging raw bytes to the given logfile, without timestamps'''
|
||||
self.logfile_raw = open(logfile, mode=mode)
|
||||
|
||||
def wait_heartbeat(self, blocking=True):
|
||||
'''wait for a heartbeat so we know the target system IDs'''
|
||||
return self.recv_match(type='HEARTBEAT', blocking=blocking)
|
||||
|
||||
def param_fetch_all(self):
|
||||
'''initiate fetch of all parameters'''
|
||||
if time.time() - getattr(self, 'param_fetch_start', 0) < 2.0:
|
||||
# don't fetch too often
|
||||
return
|
||||
self.param_fetch_start = time.time()
|
||||
self.param_fetch_in_progress = True
|
||||
self.mav.param_request_list_send(self.target_system, self.target_component)
|
||||
|
||||
def time_since(self, mtype):
|
||||
'''return the time since the last message of type mtype was received'''
|
||||
if not mtype in self.messages:
|
||||
return time.time() - self.start_time
|
||||
return time.time() - self.messages[mtype]._timestamp
|
||||
|
||||
def param_set_send(self, parm_name, parm_value, parm_type=None):
|
||||
'''wrapper for parameter set'''
|
||||
if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
|
||||
if parm_type == None:
|
||||
parm_type = mavlink.MAV_VAR_FLOAT
|
||||
self.mav.param_set_send(self.target_system, self.target_component,
|
||||
parm_name, parm_value, parm_type)
|
||||
else:
|
||||
self.mav.param_set_send(self.target_system, self.target_component,
|
||||
parm_name, parm_value)
|
||||
|
||||
def waypoint_request_list_send(self):
|
||||
'''wrapper for waypoint_request_list_send'''
|
||||
if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
|
||||
self.mav.mission_request_list_send(self.target_system, self.target_component)
|
||||
else:
|
||||
self.mav.waypoint_request_list_send(self.target_system, self.target_component)
|
||||
|
||||
def waypoint_clear_all_send(self):
|
||||
'''wrapper for waypoint_clear_all_send'''
|
||||
if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
|
||||
self.mav.mission_clear_all_send(self.target_system, self.target_component)
|
||||
else:
|
||||
self.mav.waypoint_clear_all_send(self.target_system, self.target_component)
|
||||
|
||||
def waypoint_request_send(self, seq):
|
||||
'''wrapper for waypoint_request_send'''
|
||||
if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
|
||||
self.mav.mission_request_send(self.target_system, self.target_component, seq)
|
||||
else:
|
||||
self.mav.waypoint_request_send(self.target_system, self.target_component, seq)
|
||||
|
||||
def waypoint_set_current_send(self, seq):
|
||||
'''wrapper for waypoint_set_current_send'''
|
||||
if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
|
||||
self.mav.mission_set_current_send(self.target_system, self.target_component, seq)
|
||||
else:
|
||||
self.mav.waypoint_set_current_send(self.target_system, self.target_component, seq)
|
||||
|
||||
def waypoint_count_send(self, seq):
|
||||
'''wrapper for waypoint_count_send'''
|
||||
if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
|
||||
self.mav.mission_count_send(self.target_system, self.target_component, seq)
|
||||
else:
|
||||
self.mav.waypoint_count_send(self.target_system, self.target_component, seq)
|
||||
|
||||
|
||||
class mavserial(mavfile):
|
||||
'''a serial mavlink port'''
|
||||
def __init__(self, device, baud=115200, autoreconnect=False, source_system=255):
|
||||
import serial
|
||||
self.baud = baud
|
||||
self.device = device
|
||||
self.autoreconnect = autoreconnect
|
||||
self.port = serial.Serial(self.device, self.baud, timeout=0,
|
||||
dsrdtr=False, rtscts=False, xonxoff=False)
|
||||
|
||||
try:
|
||||
fd = self.port.fileno()
|
||||
except Exception:
|
||||
fd = None
|
||||
mavfile.__init__(self, fd, device, source_system=source_system)
|
||||
|
||||
def close(self):
|
||||
self.port.close()
|
||||
|
||||
def recv(self,n=None):
|
||||
if n is None:
|
||||
n = self.mav.bytes_needed()
|
||||
if self.fd is None:
|
||||
waiting = self.port.inWaiting()
|
||||
if waiting < n:
|
||||
n = waiting
|
||||
return self.port.read(n)
|
||||
|
||||
def write(self, buf):
|
||||
try:
|
||||
return self.port.write(buf)
|
||||
except OSError:
|
||||
if self.autoreconnect:
|
||||
self.reset()
|
||||
return -1
|
||||
|
||||
def reset(self):
|
||||
import serial
|
||||
self.port.close()
|
||||
while True:
|
||||
try:
|
||||
self.port = serial.Serial(self.device, self.baud, timeout=1,
|
||||
dsrdtr=False, rtscts=False, xonxoff=False)
|
||||
try:
|
||||
self.fd = self.port.fileno()
|
||||
except Exception:
|
||||
self.fd = None
|
||||
return
|
||||
except Exception:
|
||||
print("Failed to reopen %s" % self.device)
|
||||
time.sleep(1)
|
||||
|
||||
|
||||
class mavudp(mavfile):
|
||||
'''a UDP mavlink socket'''
|
||||
def __init__(self, device, input=True, source_system=255):
|
||||
a = device.split(':')
|
||||
if len(a) != 2:
|
||||
print("UDP ports must be specified as host:port")
|
||||
sys.exit(1)
|
||||
self.port = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
||||
self.udp_server = input
|
||||
if input:
|
||||
self.port.bind((a[0], int(a[1])))
|
||||
else:
|
||||
self.destination_addr = (a[0], int(a[1]))
|
||||
self.port.setblocking(0)
|
||||
self.last_address = None
|
||||
mavfile.__init__(self, self.port.fileno(), device, source_system=source_system)
|
||||
|
||||
def close(self):
|
||||
self.port.close()
|
||||
|
||||
def recv(self,n=None):
|
||||
try:
|
||||
data, self.last_address = self.port.recvfrom(300)
|
||||
except socket.error as e:
|
||||
if e.errno in [ 11, 35 ]:
|
||||
return ""
|
||||
raise
|
||||
return data
|
||||
|
||||
def write(self, buf):
|
||||
try:
|
||||
if self.udp_server:
|
||||
if self.last_address:
|
||||
self.port.sendto(buf, self.last_address)
|
||||
else:
|
||||
self.port.sendto(buf, self.destination_addr)
|
||||
except socket.error:
|
||||
pass
|
||||
|
||||
def recv_msg(self):
|
||||
'''message receive routine for UDP link'''
|
||||
self.pre_message()
|
||||
s = self.recv()
|
||||
if len(s) == 0:
|
||||
return None
|
||||
msg = self.mav.decode(s)
|
||||
if msg:
|
||||
self.post_message(msg)
|
||||
return msg
|
||||
|
||||
|
||||
class mavtcp(mavfile):
|
||||
'''a TCP mavlink socket'''
|
||||
def __init__(self, device, source_system=255):
|
||||
a = device.split(':')
|
||||
if len(a) != 2:
|
||||
print("TCP ports must be specified as host:port")
|
||||
sys.exit(1)
|
||||
self.port = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
|
||||
self.destination_addr = (a[0], int(a[1]))
|
||||
self.port.connect(self.destination_addr)
|
||||
self.port.setblocking(0)
|
||||
self.port.setsockopt(socket.SOL_TCP, socket.TCP_NODELAY, 1)
|
||||
mavfile.__init__(self, self.port.fileno(), device, source_system=source_system)
|
||||
|
||||
def close(self):
|
||||
self.port.close()
|
||||
|
||||
def recv(self,n=None):
|
||||
if n is None:
|
||||
n = self.mav.bytes_needed()
|
||||
try:
|
||||
data = self.port.recv(n)
|
||||
except socket.error as e:
|
||||
if e.errno in [ 11, 35 ]:
|
||||
return ""
|
||||
raise
|
||||
return data
|
||||
|
||||
def write(self, buf):
|
||||
try:
|
||||
self.port.send(buf)
|
||||
except socket.error:
|
||||
pass
|
||||
|
||||
|
||||
class mavlogfile(mavfile):
|
||||
'''a MAVLink logfile reader/writer'''
|
||||
def __init__(self, filename, planner_format=None,
|
||||
write=False, append=False,
|
||||
robust_parsing=True, notimestamps=False, source_system=255):
|
||||
self.filename = filename
|
||||
self.writeable = write
|
||||
self.robust_parsing = robust_parsing
|
||||
self.planner_format = planner_format
|
||||
self.notimestamps = notimestamps
|
||||
self._two64 = math.pow(2.0, 63)
|
||||
if planner_format is None and self.filename.endswith(".tlog"):
|
||||
self.planner_format = True
|
||||
mode = 'rb'
|
||||
if self.writeable:
|
||||
if append:
|
||||
mode = 'ab'
|
||||
else:
|
||||
mode = 'wb'
|
||||
self.f = open(filename, mode)
|
||||
mavfile.__init__(self, None, filename, source_system=source_system)
|
||||
|
||||
def close(self):
|
||||
self.f.close()
|
||||
|
||||
def recv(self,n=None):
|
||||
if n is None:
|
||||
n = self.mav.bytes_needed()
|
||||
return self.f.read(n)
|
||||
|
||||
def write(self, buf):
|
||||
self.f.write(buf)
|
||||
|
||||
def pre_message(self):
|
||||
'''read timestamp if needed'''
|
||||
# read the timestamp
|
||||
if self.notimestamps:
|
||||
return
|
||||
if self.planner_format:
|
||||
tbuf = self.f.read(21)
|
||||
if len(tbuf) != 21 or tbuf[0] != '-' or tbuf[20] != ':':
|
||||
raise RuntimeError('bad planner timestamp %s' % tbuf)
|
||||
hnsec = self._two64 + float(tbuf[0:20])
|
||||
t = hnsec * 1.0e-7 # convert to seconds
|
||||
t -= 719163 * 24 * 60 * 60 # convert to 1970 base
|
||||
else:
|
||||
tbuf = self.f.read(8)
|
||||
if len(tbuf) != 8:
|
||||
return
|
||||
(tusec,) = struct.unpack('>Q', tbuf)
|
||||
t = tusec * 1.0e-6
|
||||
self._timestamp = t
|
||||
|
||||
def post_message(self, msg):
|
||||
'''add timestamp to message'''
|
||||
# read the timestamp
|
||||
super(mavlogfile, self).post_message(msg)
|
||||
if self.notimestamps:
|
||||
msg._timestamp = time.time()
|
||||
else:
|
||||
msg._timestamp = self._timestamp
|
||||
if self.planner_format:
|
||||
self.f.read(1) # trailing newline
|
||||
self.timestamp = msg._timestamp
|
||||
|
||||
class mavchildexec(mavfile):
|
||||
'''a MAVLink child processes reader/writer'''
|
||||
def __init__(self, filename, source_system=255):
|
||||
from subprocess import Popen, PIPE
|
||||
import fcntl
|
||||
|
||||
self.filename = filename
|
||||
self.child = Popen(filename, shell=True, stdout=PIPE, stdin=PIPE)
|
||||
self.fd = self.child.stdout.fileno()
|
||||
|
||||
fl = fcntl.fcntl(self.fd, fcntl.F_GETFL)
|
||||
fcntl.fcntl(self.fd, fcntl.F_SETFL, fl | os.O_NONBLOCK)
|
||||
|
||||
fl = fcntl.fcntl(self.child.stdout.fileno(), fcntl.F_GETFL)
|
||||
fcntl.fcntl(self.child.stdout.fileno(), fcntl.F_SETFL, fl | os.O_NONBLOCK)
|
||||
|
||||
mavfile.__init__(self, self.fd, filename, source_system=source_system)
|
||||
|
||||
def close(self):
|
||||
self.child.close()
|
||||
|
||||
def recv(self,n=None):
|
||||
try:
|
||||
x = self.child.stdout.read(1)
|
||||
except Exception:
|
||||
return ''
|
||||
return x
|
||||
|
||||
def write(self, buf):
|
||||
self.child.stdin.write(buf)
|
||||
|
||||
|
||||
def mavlink_connection(device, baud=115200, source_system=255,
|
||||
planner_format=None, write=False, append=False,
|
||||
robust_parsing=True, notimestamps=False, input=True):
|
||||
'''make a serial or UDP mavlink connection'''
|
||||
if device.startswith('tcp:'):
|
||||
return mavtcp(device[4:], source_system=source_system)
|
||||
if device.startswith('udp:'):
|
||||
return mavudp(device[4:], input=input, source_system=source_system)
|
||||
if device.find(':') != -1:
|
||||
return mavudp(device, source_system=source_system, input=input)
|
||||
if os.path.isfile(device):
|
||||
if device.endswith(".elf"):
|
||||
return mavchildexec(device, source_system=source_system)
|
||||
else:
|
||||
return mavlogfile(device, planner_format=planner_format, write=write,
|
||||
append=append, robust_parsing=robust_parsing, notimestamps=notimestamps,
|
||||
source_system=source_system)
|
||||
return mavserial(device, baud=baud, source_system=source_system)
|
||||
|
||||
class periodic_event(object):
|
||||
'''a class for fixed frequency events'''
|
||||
def __init__(self, frequency):
|
||||
self.frequency = float(frequency)
|
||||
self.last_time = time.time()
|
||||
def trigger(self):
|
||||
'''return True if we should trigger now'''
|
||||
tnow = time.time()
|
||||
if self.last_time + (1.0/self.frequency) <= tnow:
|
||||
self.last_time = tnow
|
||||
return True
|
||||
return False
|
||||
|
||||
|
||||
try:
|
||||
from curses import ascii
|
||||
have_ascii = True
|
||||
except:
|
||||
have_ascii = False
|
||||
|
||||
def is_printable(c):
|
||||
'''see if a character is printable'''
|
||||
global have_ascii
|
||||
if have_ascii:
|
||||
return ascii.isprint(c)
|
||||
return ord(c) >= 32 and ord(c) <= 126
|
||||
|
||||
def all_printable(buf):
|
||||
'''see if a string is all printable'''
|
||||
for c in buf:
|
||||
if not is_printable(c) and not c in ['\r', '\n', '\t']:
|
||||
return False
|
||||
return True
|
||||
|
||||
class SerialPort(object):
|
||||
'''auto-detected serial port'''
|
||||
def __init__(self, device, description=None, hwid=None):
|
||||
self.device = device
|
||||
self.description = description
|
||||
self.hwid = hwid
|
||||
|
||||
def __str__(self):
|
||||
ret = self.device
|
||||
if self.description is not None:
|
||||
ret += " : " + self.description
|
||||
if self.hwid is not None:
|
||||
ret += " : " + self.hwid
|
||||
return ret
|
||||
|
||||
def auto_detect_serial_win32(preferred_list=['*']):
|
||||
'''try to auto-detect serial ports on win32'''
|
||||
try:
|
||||
import scanwin32
|
||||
list = sorted(scanwin32.comports())
|
||||
except:
|
||||
return []
|
||||
ret = []
|
||||
for order, port, desc, hwid in list:
|
||||
for preferred in preferred_list:
|
||||
if fnmatch.fnmatch(desc, preferred) or fnmatch.fnmatch(hwid, preferred):
|
||||
ret.append(SerialPort(port, description=desc, hwid=hwid))
|
||||
if len(ret) > 0:
|
||||
return ret
|
||||
# now the rest
|
||||
for order, port, desc, hwid in list:
|
||||
ret.append(SerialPort(port, description=desc, hwid=hwid))
|
||||
return ret
|
||||
|
||||
|
||||
|
||||
|
||||
def auto_detect_serial_unix(preferred_list=['*']):
|
||||
'''try to auto-detect serial ports on win32'''
|
||||
import glob
|
||||
glist = glob.glob('/dev/ttyS*') + glob.glob('/dev/ttyUSB*') + glob.glob('/dev/ttyACM*') + glob.glob('/dev/serial/by-id/*')
|
||||
ret = []
|
||||
# try preferred ones first
|
||||
for d in glist:
|
||||
for preferred in preferred_list:
|
||||
if fnmatch.fnmatch(d, preferred):
|
||||
ret.append(SerialPort(d))
|
||||
if len(ret) > 0:
|
||||
return ret
|
||||
# now the rest
|
||||
for d in glist:
|
||||
ret.append(SerialPort(d))
|
||||
return ret
|
||||
|
||||
|
||||
|
||||
def auto_detect_serial(preferred_list=['*']):
|
||||
'''try to auto-detect serial port'''
|
||||
# see if
|
||||
if os.name == 'nt':
|
||||
return auto_detect_serial_win32(preferred_list=preferred_list)
|
||||
return auto_detect_serial_unix(preferred_list=preferred_list)
|
||||
|
||||
def mode_string_v09(msg):
|
||||
'''mode string for 0.9 protocol'''
|
||||
mode = msg.mode
|
||||
nav_mode = msg.nav_mode
|
||||
|
||||
MAV_MODE_UNINIT = 0
|
||||
MAV_MODE_MANUAL = 2
|
||||
MAV_MODE_GUIDED = 3
|
||||
MAV_MODE_AUTO = 4
|
||||
MAV_MODE_TEST1 = 5
|
||||
MAV_MODE_TEST2 = 6
|
||||
MAV_MODE_TEST3 = 7
|
||||
|
||||
MAV_NAV_GROUNDED = 0
|
||||
MAV_NAV_LIFTOFF = 1
|
||||
MAV_NAV_HOLD = 2
|
||||
MAV_NAV_WAYPOINT = 3
|
||||
MAV_NAV_VECTOR = 4
|
||||
MAV_NAV_RETURNING = 5
|
||||
MAV_NAV_LANDING = 6
|
||||
MAV_NAV_LOST = 7
|
||||
MAV_NAV_LOITER = 8
|
||||
|
||||
cmode = (mode, nav_mode)
|
||||
mapping = {
|
||||
(MAV_MODE_UNINIT, MAV_NAV_GROUNDED) : "INITIALISING",
|
||||
(MAV_MODE_MANUAL, MAV_NAV_VECTOR) : "MANUAL",
|
||||
(MAV_MODE_TEST3, MAV_NAV_VECTOR) : "CIRCLE",
|
||||
(MAV_MODE_GUIDED, MAV_NAV_VECTOR) : "GUIDED",
|
||||
(MAV_MODE_TEST1, MAV_NAV_VECTOR) : "STABILIZE",
|
||||
(MAV_MODE_TEST2, MAV_NAV_LIFTOFF) : "FBWA",
|
||||
(MAV_MODE_AUTO, MAV_NAV_WAYPOINT) : "AUTO",
|
||||
(MAV_MODE_AUTO, MAV_NAV_RETURNING) : "RTL",
|
||||
(MAV_MODE_AUTO, MAV_NAV_LOITER) : "LOITER",
|
||||
(MAV_MODE_AUTO, MAV_NAV_LIFTOFF) : "TAKEOFF",
|
||||
(MAV_MODE_AUTO, MAV_NAV_LANDING) : "LANDING",
|
||||
(MAV_MODE_AUTO, MAV_NAV_HOLD) : "LOITER",
|
||||
(MAV_MODE_GUIDED, MAV_NAV_VECTOR) : "GUIDED",
|
||||
(100, MAV_NAV_VECTOR) : "STABILIZE",
|
||||
(101, MAV_NAV_VECTOR) : "ACRO",
|
||||
(102, MAV_NAV_VECTOR) : "ALT_HOLD",
|
||||
(107, MAV_NAV_VECTOR) : "CIRCLE",
|
||||
}
|
||||
if cmode in mapping:
|
||||
return mapping[cmode]
|
||||
return "Mode(%s,%s)" % cmode
|
||||
|
||||
def mode_string_v10(msg):
|
||||
'''mode string for 1.0 protocol, from heartbeat'''
|
||||
if not msg.base_mode & mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED:
|
||||
return "Mode(0x%08x)" % msg.base_mode
|
||||
mapping = {
|
||||
0 : 'MANUAL',
|
||||
1 : 'CIRCLE',
|
||||
2 : 'STABILIZE',
|
||||
5 : 'FBWA',
|
||||
6 : 'FBWB',
|
||||
7 : 'FBWC',
|
||||
10 : 'AUTO',
|
||||
11 : 'RTL',
|
||||
12 : 'LOITER',
|
||||
13 : 'TAKEOFF',
|
||||
14 : 'LAND',
|
||||
15 : 'GUIDED',
|
||||
16 : 'INITIALISING'
|
||||
}
|
||||
if msg.custom_mode in mapping:
|
||||
return mapping[msg.custom_mode]
|
||||
return "Mode(%u)" % msg.custom_mode
|
||||
|
||||
|
||||
|
||||
class x25crc(object):
|
||||
'''x25 CRC - based on checksum.h from mavlink library'''
|
||||
def __init__(self, buf=''):
|
||||
self.crc = 0xffff
|
||||
self.accumulate(buf)
|
||||
|
||||
def accumulate(self, buf):
|
||||
'''add in some more bytes'''
|
||||
bytes = array.array('B')
|
||||
if isinstance(buf, array.array):
|
||||
bytes.extend(buf)
|
||||
else:
|
||||
bytes.fromstring(buf)
|
||||
accum = self.crc
|
||||
for b in bytes:
|
||||
tmp = b ^ (accum & 0xff)
|
||||
tmp = (tmp ^ (tmp<<4)) & 0xFF
|
||||
accum = (accum>>8) ^ (tmp<<8) ^ (tmp<<3) ^ (tmp>>4)
|
||||
accum = accum & 0xFFFF
|
||||
self.crc = accum
|
||||
135
Tools/autotest/pymavlink/mavwp.py
Normal file
135
Tools/autotest/pymavlink/mavwp.py
Normal file
@ -0,0 +1,135 @@
|
||||
'''
|
||||
module for loading/saving waypoints
|
||||
'''
|
||||
|
||||
import mavlink
|
||||
|
||||
class MAVWPError(Exception):
|
||||
'''MAVLink WP error class'''
|
||||
def __init__(self, msg):
|
||||
Exception.__init__(self, msg)
|
||||
self.message = msg
|
||||
|
||||
class MAVWPLoader(object):
|
||||
'''MAVLink waypoint loader'''
|
||||
def __init__(self, target_system=0, target_component=0):
|
||||
self.wpoints = []
|
||||
self.target_system = target_system
|
||||
self.target_component = target_component
|
||||
|
||||
|
||||
def count(self):
|
||||
'''return number of waypoints'''
|
||||
return len(self.wpoints)
|
||||
|
||||
def wp(self, i):
|
||||
'''return a waypoint'''
|
||||
return self.wpoints[i]
|
||||
|
||||
def add(self, w):
|
||||
'''add a waypoint'''
|
||||
w.seq = self.count()
|
||||
self.wpoints.append(w)
|
||||
|
||||
def remove(self, w):
|
||||
'''remove a waypoint'''
|
||||
self.wpoints.remove(w)
|
||||
|
||||
def clear(self):
|
||||
'''clear waypoint list'''
|
||||
self.wpoints = []
|
||||
|
||||
def _read_waypoint_v100(self, line):
|
||||
'''read a version 100 waypoint'''
|
||||
cmdmap = {
|
||||
2 : mavlink.MAV_CMD_NAV_TAKEOFF,
|
||||
3 : mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH,
|
||||
4 : mavlink.MAV_CMD_NAV_LAND,
|
||||
24: mavlink.MAV_CMD_NAV_TAKEOFF,
|
||||
26: mavlink.MAV_CMD_NAV_LAND,
|
||||
25: mavlink.MAV_CMD_NAV_WAYPOINT ,
|
||||
27: mavlink.MAV_CMD_NAV_LOITER_UNLIM
|
||||
}
|
||||
a = line.split()
|
||||
if len(a) != 13:
|
||||
raise MAVWPError("invalid waypoint line with %u values" % len(a))
|
||||
w = mavlink.MAVLink_waypoint_message(self.target_system, self.target_component,
|
||||
int(a[0]), # seq
|
||||
int(a[1]), # frame
|
||||
int(a[2]), # action
|
||||
int(a[7]), # current
|
||||
int(a[12]), # autocontinue
|
||||
float(a[5]), # param1,
|
||||
float(a[6]), # param2,
|
||||
float(a[3]), # param3
|
||||
float(a[4]), # param4
|
||||
float(a[9]), # x, latitude
|
||||
float(a[8]), # y, longitude
|
||||
float(a[10]) # z
|
||||
)
|
||||
if not w.command in cmdmap:
|
||||
raise MAVWPError("Unknown v100 waypoint action %u" % w.command)
|
||||
|
||||
w.command = cmdmap[w.command]
|
||||
return w
|
||||
|
||||
def _read_waypoint_v110(self, line):
|
||||
'''read a version 110 waypoint'''
|
||||
a = line.split()
|
||||
if len(a) != 12:
|
||||
raise MAVWPError("invalid waypoint line with %u values" % len(a))
|
||||
w = mavlink.MAVLink_waypoint_message(self.target_system, self.target_component,
|
||||
int(a[0]), # seq
|
||||
int(a[2]), # frame
|
||||
int(a[3]), # command
|
||||
int(a[1]), # current
|
||||
int(a[11]), # autocontinue
|
||||
float(a[4]), # param1,
|
||||
float(a[5]), # param2,
|
||||
float(a[6]), # param3
|
||||
float(a[7]), # param4
|
||||
float(a[8]), # x (latitude)
|
||||
float(a[9]), # y (longitude)
|
||||
float(a[10]) # z (altitude)
|
||||
)
|
||||
return w
|
||||
|
||||
|
||||
def load(self, filename):
|
||||
'''load waypoints from a file.
|
||||
returns number of waypoints loaded'''
|
||||
f = open(filename, mode='r')
|
||||
version_line = f.readline().strip()
|
||||
if version_line == "QGC WPL 100":
|
||||
readfn = self._read_waypoint_v100
|
||||
elif version_line == "QGC WPL 110":
|
||||
readfn = self._read_waypoint_v110
|
||||
else:
|
||||
f.close()
|
||||
raise MAVWPError("Unsupported waypoint format '%s'" % version_line)
|
||||
|
||||
self.clear()
|
||||
|
||||
for line in f:
|
||||
if line.startswith('#'):
|
||||
continue
|
||||
line = line.strip()
|
||||
if not line:
|
||||
continue
|
||||
w = readfn(line)
|
||||
if w is not None:
|
||||
self.add(w)
|
||||
f.close()
|
||||
return len(self.wpoints)
|
||||
|
||||
|
||||
def save(self, filename):
|
||||
'''save waypoints to a file'''
|
||||
f = open(filename, mode='w')
|
||||
f.write("QGC WPL 110\n")
|
||||
for w in self.wpoints:
|
||||
f.write("%u\t%u\t%u\t%u\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%u\n" % (
|
||||
w.seq, w.current, w.frame, w.command,
|
||||
w.param1, w.param2, w.param3, w.param4,
|
||||
w.x, w.y, w.z, w.autocontinue))
|
||||
f.close()
|
||||
62
Tools/autotest/pysim/aircraft.py
Normal file
62
Tools/autotest/pysim/aircraft.py
Normal file
@ -0,0 +1,62 @@
|
||||
import euclid, math, util
|
||||
|
||||
|
||||
class Aircraft(object):
|
||||
'''a basic aircraft class'''
|
||||
def __init__(self):
|
||||
self.home_latitude = 0
|
||||
self.home_longitude = 0
|
||||
self.home_altitude = 0
|
||||
self.ground_level = 0
|
||||
self.frame_height = 0.0
|
||||
|
||||
self.latitude = self.home_latitude
|
||||
self.longitude = self.home_longitude
|
||||
self.altitude = self.home_altitude
|
||||
|
||||
self.pitch = 0.0 # degrees
|
||||
self.roll = 0.0 # degrees
|
||||
self.yaw = 0.0 # degrees
|
||||
self.pitch_rate = 0.0 # degrees/s
|
||||
self.roll_rate = 0.0 # degrees/s
|
||||
self.yaw_rate = 0.0 # degrees/s
|
||||
self.velocity = euclid.Vector3(0, 0, 0) # m/s, North, East, Up
|
||||
self.position = euclid.Vector3(0, 0, 0) # m North, East, Up
|
||||
self.accel = euclid.Vector3(0, 0, 0) # m/s/s North, East, Up
|
||||
self.mass = 0.0
|
||||
self.update_frequency = 50 # in Hz
|
||||
self.gravity = 9.8 # m/s/s
|
||||
self.accelerometer = euclid.Vector3(0, 0, -self.gravity)
|
||||
|
||||
def normalise(self):
|
||||
'''normalise roll, pitch and yaw
|
||||
|
||||
roll between -180 and 180
|
||||
pitch between -180 and 180
|
||||
yaw between 0 and 360
|
||||
|
||||
'''
|
||||
def norm(angle, min, max):
|
||||
while angle > max:
|
||||
angle -= 360
|
||||
while angle < min:
|
||||
angle += 360
|
||||
return angle
|
||||
self.roll = norm(self.roll, -180, 180)
|
||||
self.pitch = norm(self.pitch, -180, 180)
|
||||
self.yaw = norm(self.yaw, 0, 360)
|
||||
|
||||
def update_position(self):
|
||||
'''update lat/lon/alt from position'''
|
||||
|
||||
radius_of_earth = 6378100.0 # in meters
|
||||
dlat = math.degrees(math.atan(self.position.x/radius_of_earth))
|
||||
dlon = math.degrees(math.atan(self.position.y/radius_of_earth))
|
||||
|
||||
self.altitude = self.home_altitude + self.position.z
|
||||
self.latitude = self.home_latitude + dlat
|
||||
self.longitude = self.home_longitude + dlon
|
||||
|
||||
# work out what the accelerometer would see
|
||||
self.accelerometer = util.RPY_to_XYZ(self.roll, self.pitch, self.yaw, 1) * -self.gravity
|
||||
self.accelerometer -= self.accel
|
||||
2271
Tools/autotest/pysim/euclid.py
Normal file
2271
Tools/autotest/pysim/euclid.py
Normal file
File diff suppressed because it is too large
Load Diff
209
Tools/autotest/pysim/fgFDM.py
Normal file
209
Tools/autotest/pysim/fgFDM.py
Normal file
@ -0,0 +1,209 @@
|
||||
#!/usr/bin/env python
|
||||
# parse and construct FlightGear NET FDM packets
|
||||
# Andrew Tridgell, November 2011
|
||||
# released under GNU GPL version 2 or later
|
||||
|
||||
import struct, math
|
||||
|
||||
class fgFDMError(Exception):
|
||||
'''fgFDM error class'''
|
||||
def __init__(self, msg):
|
||||
Exception.__init__(self, msg)
|
||||
self.message = 'fgFDMError: ' + msg
|
||||
|
||||
class fgFDMVariable(object):
|
||||
'''represent a single fgFDM variable'''
|
||||
def __init__(self, index, arraylength, units):
|
||||
self.index = index
|
||||
self.arraylength = arraylength
|
||||
self.units = units
|
||||
|
||||
class fgFDMVariableList(object):
|
||||
'''represent a list of fgFDM variable'''
|
||||
def __init__(self):
|
||||
self.vars = {}
|
||||
self._nextidx = 0
|
||||
|
||||
def add(self, varname, arraylength=1, units=None):
|
||||
self.vars[varname] = fgFDMVariable(self._nextidx, arraylength, units=units)
|
||||
self._nextidx += arraylength
|
||||
|
||||
class fgFDM(object):
|
||||
'''a flightgear native FDM parser/generator'''
|
||||
def __init__(self):
|
||||
'''init a fgFDM object'''
|
||||
self.FG_NET_FDM_VERSION = 24
|
||||
self.pack_string = '>I 4x 3d 6f 11f 3f 2f I 4I 4f 4f 4f 4f 4f 4f 4f 4f 4f I 4f I 3I 3f 3f 3f I i f 10f'
|
||||
self.values = [0]*98
|
||||
|
||||
self.FG_MAX_ENGINES = 4
|
||||
self.FG_MAX_WHEELS = 3
|
||||
self.FG_MAX_TANKS = 4
|
||||
|
||||
# supported unit mappings
|
||||
self.unitmap = {
|
||||
('radians', 'degrees') : math.degrees(1),
|
||||
('rps', 'dps') : math.degrees(1),
|
||||
('feet', 'meters') : 0.3048,
|
||||
('fps', 'mps') : 0.3048,
|
||||
('knots', 'mps') : 0.514444444,
|
||||
('knots', 'fps') : 0.514444444/0.3048,
|
||||
('fpss', 'mpss') : 0.3048,
|
||||
('seconds', 'minutes') : 60,
|
||||
('seconds', 'hours') : 3600,
|
||||
}
|
||||
|
||||
# build a mapping between variable name and index in the values array
|
||||
# note that the order of this initialisation is critical - it must
|
||||
# match the wire structure
|
||||
self.mapping = fgFDMVariableList()
|
||||
self.mapping.add('version')
|
||||
|
||||
# position
|
||||
self.mapping.add('longitude', units='radians') # geodetic (radians)
|
||||
self.mapping.add('latitude', units='radians') # geodetic (radians)
|
||||
self.mapping.add('altitude', units='meters') # above sea level (meters)
|
||||
self.mapping.add('agl', units='meters') # above ground level (meters)
|
||||
|
||||
# attitude
|
||||
self.mapping.add('phi', units='radians') # roll (radians)
|
||||
self.mapping.add('theta', units='radians') # pitch (radians)
|
||||
self.mapping.add('psi', units='radians') # yaw or true heading (radians)
|
||||
self.mapping.add('alpha', units='radians') # angle of attack (radians)
|
||||
self.mapping.add('beta', units='radians') # side slip angle (radians)
|
||||
|
||||
# Velocities
|
||||
self.mapping.add('phidot', units='rps') # roll rate (radians/sec)
|
||||
self.mapping.add('thetadot', units='rps') # pitch rate (radians/sec)
|
||||
self.mapping.add('psidot', units='rps') # yaw rate (radians/sec)
|
||||
self.mapping.add('vcas', units='fps') # calibrated airspeed
|
||||
self.mapping.add('climb_rate', units='fps') # feet per second
|
||||
self.mapping.add('v_north', units='fps') # north velocity in local/body frame, fps
|
||||
self.mapping.add('v_east', units='fps') # east velocity in local/body frame, fps
|
||||
self.mapping.add('v_down', units='fps') # down/vertical velocity in local/body frame, fps
|
||||
self.mapping.add('v_wind_body_north', units='fps') # north velocity in local/body frame
|
||||
self.mapping.add('v_wind_body_east', units='fps') # east velocity in local/body frame
|
||||
self.mapping.add('v_wind_body_down', units='fps') # down/vertical velocity in local/body
|
||||
|
||||
# Accelerations
|
||||
self.mapping.add('A_X_pilot', units='fpss') # X accel in body frame ft/sec^2
|
||||
self.mapping.add('A_Y_pilot', units='fpss') # Y accel in body frame ft/sec^2
|
||||
self.mapping.add('A_Z_pilot', units='fpss') # Z accel in body frame ft/sec^2
|
||||
|
||||
# Stall
|
||||
self.mapping.add('stall_warning') # 0.0 - 1.0 indicating the amount of stall
|
||||
self.mapping.add('slip_deg', units='degrees') # slip ball deflection
|
||||
|
||||
# Engine status
|
||||
self.mapping.add('num_engines') # Number of valid engines
|
||||
self.mapping.add('eng_state', self.FG_MAX_ENGINES) # Engine state (off, cranking, running)
|
||||
self.mapping.add('rpm', self.FG_MAX_ENGINES) # Engine RPM rev/min
|
||||
self.mapping.add('fuel_flow', self.FG_MAX_ENGINES) # Fuel flow gallons/hr
|
||||
self.mapping.add('fuel_px', self.FG_MAX_ENGINES) # Fuel pressure psi
|
||||
self.mapping.add('egt', self.FG_MAX_ENGINES) # Exhuast gas temp deg F
|
||||
self.mapping.add('cht', self.FG_MAX_ENGINES) # Cylinder head temp deg F
|
||||
self.mapping.add('mp_osi', self.FG_MAX_ENGINES) # Manifold pressure
|
||||
self.mapping.add('tit', self.FG_MAX_ENGINES) # Turbine Inlet Temperature
|
||||
self.mapping.add('oil_temp', self.FG_MAX_ENGINES) # Oil temp deg F
|
||||
self.mapping.add('oil_px', self.FG_MAX_ENGINES) # Oil pressure psi
|
||||
|
||||
# Consumables
|
||||
self.mapping.add('num_tanks') # Max number of fuel tanks
|
||||
self.mapping.add('fuel_quantity', self.FG_MAX_TANKS)
|
||||
|
||||
# Gear status
|
||||
self.mapping.add('num_wheels')
|
||||
self.mapping.add('wow', self.FG_MAX_WHEELS)
|
||||
self.mapping.add('gear_pos', self.FG_MAX_WHEELS)
|
||||
self.mapping.add('gear_steer', self.FG_MAX_WHEELS)
|
||||
self.mapping.add('gear_compression', self.FG_MAX_WHEELS)
|
||||
|
||||
# Environment
|
||||
self.mapping.add('cur_time', units='seconds') # current unix time
|
||||
self.mapping.add('warp', units='seconds') # offset in seconds to unix time
|
||||
self.mapping.add('visibility', units='meters') # visibility in meters (for env. effects)
|
||||
|
||||
# Control surface positions (normalized values)
|
||||
self.mapping.add('elevator')
|
||||
self.mapping.add('elevator_trim_tab')
|
||||
self.mapping.add('left_flap')
|
||||
self.mapping.add('right_flap')
|
||||
self.mapping.add('left_aileron')
|
||||
self.mapping.add('right_aileron')
|
||||
self.mapping.add('rudder')
|
||||
self.mapping.add('nose_wheel')
|
||||
self.mapping.add('speedbrake')
|
||||
self.mapping.add('spoilers')
|
||||
|
||||
self.set('version', self.FG_NET_FDM_VERSION)
|
||||
|
||||
self._packet_size = struct.calcsize(self.pack_string)
|
||||
|
||||
if len(self.values) != self.mapping._nextidx:
|
||||
raise fgFDMError('Invalid variable list in initialisation')
|
||||
|
||||
def packet_size(self):
|
||||
'''return expected size of FG FDM packets'''
|
||||
return self._packet_size
|
||||
|
||||
def convert(self, value, fromunits, tounits):
|
||||
'''convert a value from one set of units to another'''
|
||||
if fromunits == tounits:
|
||||
return value
|
||||
if (fromunits,tounits) in self.unitmap:
|
||||
return value * self.unitmap[(fromunits,tounits)]
|
||||
if (tounits,fromunits) in self.unitmap:
|
||||
return value / self.unitmap[(tounits,fromunits)]
|
||||
raise fgFDMError("unknown unit mapping (%s,%s)" % (fromunits, tounits))
|
||||
|
||||
|
||||
def units(self, varname):
|
||||
'''return the default units of a variable'''
|
||||
if not varname in self.mapping.vars:
|
||||
raise fgFDMError('Unknown variable %s' % varname)
|
||||
return self.mapping.vars[varname].units
|
||||
|
||||
|
||||
def variables(self):
|
||||
'''return a list of available variables'''
|
||||
return sorted(self.mapping.vars.keys(),
|
||||
key = lambda v : self.mapping.vars[v].index)
|
||||
|
||||
|
||||
def get(self, varname, idx=0, units=None):
|
||||
'''get a variable value'''
|
||||
if not varname in self.mapping.vars:
|
||||
raise fgFDMError('Unknown variable %s' % varname)
|
||||
if idx >= self.mapping.vars[varname].arraylength:
|
||||
raise fgFDMError('index of %s beyond end of array idx=%u arraylength=%u' % (
|
||||
varname, idx, self.mapping.vars[varname].arraylength))
|
||||
value = self.values[self.mapping.vars[varname].index + idx]
|
||||
if units:
|
||||
value = self.convert(value, self.mapping.vars[varname].units, units)
|
||||
return value
|
||||
|
||||
def set(self, varname, value, idx=0, units=None):
|
||||
'''set a variable value'''
|
||||
if not varname in self.mapping.vars:
|
||||
raise fgFDMError('Unknown variable %s' % varname)
|
||||
if idx >= self.mapping.vars[varname].arraylength:
|
||||
raise fgFDMError('index of %s beyond end of array idx=%u arraylength=%u' % (
|
||||
varname, idx, self.mapping.vars[varname].arraylength))
|
||||
if units:
|
||||
value = self.convert(value, units, self.mapping.vars[varname].units)
|
||||
self.values[self.mapping.vars[varname].index + idx] = value
|
||||
|
||||
def parse(self, buf):
|
||||
'''parse a FD FDM buffer'''
|
||||
try:
|
||||
t = struct.unpack(self.pack_string, buf)
|
||||
except struct.error, msg:
|
||||
raise fgFDMError('unable to parse - %s' % msg)
|
||||
self.values = list(t)
|
||||
|
||||
def pack(self):
|
||||
'''pack a FD FDM buffer from current values'''
|
||||
for i in range(len(self.values)):
|
||||
if math.isnan(self.values[i]):
|
||||
self.values[i] = 0
|
||||
return struct.pack(self.pack_string, *self.values)
|
||||
75
Tools/autotest/pysim/fg_display.py
Executable file
75
Tools/autotest/pysim/fg_display.py
Executable file
@ -0,0 +1,75 @@
|
||||
#!/usr/bin/env python
|
||||
|
||||
import socket, struct, time, math
|
||||
import fgFDM
|
||||
|
||||
class udp_socket(object):
|
||||
'''a UDP socket'''
|
||||
def __init__(self, device, blocking=True, input=True):
|
||||
a = device.split(':')
|
||||
if len(a) != 2:
|
||||
print("UDP ports must be specified as host:port")
|
||||
sys.exit(1)
|
||||
self.port = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
||||
if input:
|
||||
self.port.bind((a[0], int(a[1])))
|
||||
self.destination_addr = None
|
||||
else:
|
||||
self.destination_addr = (a[0], int(a[1]))
|
||||
if not blocking:
|
||||
self.port.setblocking(0)
|
||||
self.last_address = None
|
||||
|
||||
def recv(self,n=1000):
|
||||
try:
|
||||
data, self.last_address = self.port.recvfrom(n)
|
||||
except socket.error as e:
|
||||
if e.errno in [ 11, 35 ]:
|
||||
return ""
|
||||
raise
|
||||
return data
|
||||
|
||||
def write(self, buf):
|
||||
try:
|
||||
if self.destination_addr:
|
||||
self.port.sendto(buf, self.destination_addr)
|
||||
else:
|
||||
self.port.sendto(buf, self.last_addr)
|
||||
except socket.error:
|
||||
pass
|
||||
|
||||
|
||||
|
||||
def ft2m(x):
|
||||
return x * 0.3048
|
||||
|
||||
def m2ft(x):
|
||||
return x / 0.3048
|
||||
|
||||
def kt2mps(x):
|
||||
return x * 0.514444444
|
||||
|
||||
def mps2kt(x):
|
||||
return x / 0.514444444
|
||||
|
||||
udp = udp_socket("127.0.0.1:5123")
|
||||
fgout = udp_socket("127.0.0.1:5124", input=False)
|
||||
|
||||
tlast = time.time()
|
||||
count = 0
|
||||
|
||||
fg = fgFDM.fgFDM()
|
||||
|
||||
while True:
|
||||
buf = udp.recv(1000)
|
||||
fg.parse(buf)
|
||||
fgout.write(fg.pack())
|
||||
count += 1
|
||||
if time.time() - tlast > 1.0:
|
||||
print("%u FPS len=%u" % (count, len(buf)))
|
||||
count = 0
|
||||
tlast = time.time()
|
||||
print(fg.get('latitude', units='degrees'),
|
||||
fg.get('longitude', units='degrees'),
|
||||
fg.get('altitude', units='meters'),
|
||||
fg.get('vcas', units='mps'))
|
||||
88
Tools/autotest/pysim/quadcopter.py
Executable file
88
Tools/autotest/pysim/quadcopter.py
Executable file
@ -0,0 +1,88 @@
|
||||
#!/usr/bin/env python
|
||||
|
||||
from aircraft import Aircraft
|
||||
import euclid, util, time
|
||||
|
||||
|
||||
class QuadCopter(Aircraft):
|
||||
'''a QuadCopter'''
|
||||
def __init__(self):
|
||||
Aircraft.__init__(self)
|
||||
self.motor_speed = [ 0.0, 0.0, 0.0, 0.0 ]
|
||||
self.mass = 1.0 # Kg
|
||||
self.hover_throttle = 0.37
|
||||
self.terminal_velocity = 30.0
|
||||
self.frame_height = 0.1
|
||||
|
||||
# scaling from total motor power to Newtons. Allows the copter
|
||||
# to hover against gravity when each motor is at hover_throttle
|
||||
self.thrust_scale = (self.mass * self.gravity) / (4.0 * self.hover_throttle)
|
||||
|
||||
self.last_time = time.time()
|
||||
|
||||
def update(self, servos):
|
||||
for i in range(0, 4):
|
||||
if servos[i] <= 0.0:
|
||||
self.motor_speed[i] = 0
|
||||
else:
|
||||
self.motor_speed[i] = servos[i]
|
||||
|
||||
m = self.motor_speed
|
||||
|
||||
# how much time has passed?
|
||||
t = time.time()
|
||||
delta_time = t - self.last_time
|
||||
self.last_time = t
|
||||
|
||||
# rotational acceleration, in degrees/s/s
|
||||
roll_accel = (m[1] - m[0]) * 5000.0
|
||||
pitch_accel = (m[2] - m[3]) * 5000.0
|
||||
yaw_accel = -((m[2]+m[3]) - (m[0]+m[1])) * 400.0
|
||||
|
||||
# update rotational rates
|
||||
self.roll_rate += roll_accel * delta_time
|
||||
self.pitch_rate += pitch_accel * delta_time
|
||||
self.yaw_rate += yaw_accel * delta_time
|
||||
|
||||
# update rotation
|
||||
self.roll += self.roll_rate * delta_time
|
||||
self.pitch += self.pitch_rate * delta_time
|
||||
self.yaw += self.yaw_rate * delta_time
|
||||
|
||||
# air resistance
|
||||
air_resistance = - self.velocity * (self.gravity/self.terminal_velocity)
|
||||
|
||||
# normalise rotations
|
||||
self.normalise()
|
||||
|
||||
thrust = (m[0] + m[1] + m[2] + m[3]) * self.thrust_scale # Newtons
|
||||
accel = thrust / self.mass
|
||||
|
||||
accel3D = util.RPY_to_XYZ(self.roll, self.pitch, self.yaw, accel)
|
||||
accel3D += euclid.Vector3(0, 0, -self.gravity)
|
||||
accel3D += air_resistance
|
||||
|
||||
# new velocity vector
|
||||
self.velocity += accel3D * delta_time
|
||||
self.accel = accel3D
|
||||
|
||||
# new position vector
|
||||
old_position = self.position.copy()
|
||||
self.position += self.velocity * delta_time
|
||||
|
||||
# constrain height to the ground
|
||||
if self.position.z + self.home_altitude < self.ground_level + self.frame_height:
|
||||
if old_position.z + self.home_altitude > self.ground_level + self.frame_height:
|
||||
print("Hit ground at %f m/s" % (-self.velocity.z))
|
||||
self.velocity = euclid.Vector3(0, 0, 0)
|
||||
self.roll_rate = 0
|
||||
self.pitch_rate = 0
|
||||
self.yaw_rate = 0
|
||||
self.roll = 0
|
||||
self.pitch = 0
|
||||
self.accel = euclid.Vector3(0, 0, 0)
|
||||
self.position = euclid.Vector3(self.position.x, self.position.y,
|
||||
self.ground_level + self.frame_height - self.home_altitude)
|
||||
|
||||
# update lat/lon/altitude
|
||||
self.update_position()
|
||||
178
Tools/autotest/pysim/sim_quad.py
Executable file
178
Tools/autotest/pysim/sim_quad.py
Executable file
@ -0,0 +1,178 @@
|
||||
#!/usr/bin/env python
|
||||
|
||||
from quadcopter import QuadCopter
|
||||
import euclid, util, time, os, sys, math
|
||||
import socket, struct
|
||||
import select, fgFDM, errno
|
||||
|
||||
# find the mavlink.py module
|
||||
for d in [ 'pymavlink',
|
||||
os.path.join(os.path.dirname(os.path.realpath(__file__)), '../pymavlink') ]:
|
||||
if os.path.exists(d):
|
||||
sys.path.insert(0, d)
|
||||
import mavlink
|
||||
|
||||
|
||||
def sim_send(m, a):
|
||||
'''send flight information to mavproxy and flightgear'''
|
||||
global fdm
|
||||
|
||||
fdm.set('latitude', a.latitude, units='degrees')
|
||||
fdm.set('longitude', a.longitude, units='degrees')
|
||||
fdm.set('altitude', a.altitude, units='meters')
|
||||
fdm.set('phi', a.roll, units='degrees')
|
||||
fdm.set('theta', a.pitch, units='degrees')
|
||||
fdm.set('psi', a.yaw, units='degrees')
|
||||
fdm.set('phidot', a.roll_rate, units='dps')
|
||||
fdm.set('thetadot', a.pitch_rate, units='dps')
|
||||
fdm.set('psidot', a.yaw_rate, units='dps')
|
||||
fdm.set('vcas', math.sqrt(a.velocity.x*a.velocity.x + a.velocity.y*a.velocity.y), units='mps')
|
||||
fdm.set('v_north', a.velocity.x, units='mps')
|
||||
fdm.set('v_east', a.velocity.y, units='mps')
|
||||
fdm.set('num_engines', 4)
|
||||
for i in range(4):
|
||||
fdm.set('rpm', 1000*m[i], idx=i)
|
||||
try:
|
||||
fg_out.send(fdm.pack())
|
||||
except socket.error as e:
|
||||
if not e.errno in [ errno.ECONNREFUSED ]:
|
||||
raise
|
||||
|
||||
buf = struct.pack('<16dI',
|
||||
a.latitude, a.longitude, a.altitude, a.yaw,
|
||||
a.velocity.x, a.velocity.y,
|
||||
a.accelerometer.x, a.accelerometer.y, a.accelerometer.z,
|
||||
a.roll_rate, a.pitch_rate, a.yaw_rate,
|
||||
a.roll, a.pitch, a.yaw,
|
||||
math.sqrt(a.velocity.x*a.velocity.x + a.velocity.y*a.velocity.y),
|
||||
0x4c56414e)
|
||||
try:
|
||||
sim_out.send(buf)
|
||||
except socket.error as e:
|
||||
if not e.errno in [ errno.ECONNREFUSED ]:
|
||||
raise
|
||||
|
||||
|
||||
def sim_recv(m, a):
|
||||
'''receive control information from SITL'''
|
||||
try:
|
||||
buf = sim_in.recv(22)
|
||||
except socket.error as e:
|
||||
if not e.errno in [ errno.EAGAIN, errno.EWOULDBLOCK ]:
|
||||
raise
|
||||
return
|
||||
|
||||
if len(buf) != 22:
|
||||
return
|
||||
pwm = list(struct.unpack('<11H', buf))
|
||||
for i in range(4):
|
||||
m[i] = (pwm[i]-1000)/1000.0
|
||||
|
||||
|
||||
def interpret_address(addrstr):
|
||||
'''interpret a IP:port string'''
|
||||
a = addrstr.split(':')
|
||||
a[1] = int(a[1])
|
||||
return tuple(a)
|
||||
|
||||
##################
|
||||
# main program
|
||||
from optparse import OptionParser
|
||||
parser = OptionParser("sim_quad.py [options]")
|
||||
parser.add_option("--fgout", dest="fgout", help="flightgear output (IP:port)", default="127.0.0.1:5503")
|
||||
parser.add_option("--simin", dest="simin", help="SIM input (IP:port)", default="127.0.0.1:5502")
|
||||
parser.add_option("--simout", dest="simout", help="SIM output (IP:port)", default="127.0.0.1:5501")
|
||||
parser.add_option("--home", dest="home", type='string', default=None, help="home lat,lng,alt,hdg (required)")
|
||||
parser.add_option("--rate", dest="rate", type='int', help="SIM update rate", default=1000)
|
||||
|
||||
(opts, args) = parser.parse_args()
|
||||
|
||||
for m in [ 'home' ]:
|
||||
if not opts.__dict__[m]:
|
||||
print("Missing required option '%s'" % m)
|
||||
parser.print_help()
|
||||
sys.exit(1)
|
||||
|
||||
parent_pid = os.getppid()
|
||||
|
||||
# UDP socket addresses
|
||||
fg_out_address = interpret_address(opts.fgout)
|
||||
sim_out_address = interpret_address(opts.simout)
|
||||
sim_in_address = interpret_address(opts.simin)
|
||||
|
||||
# setup output to flightgear
|
||||
fg_out = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
||||
fg_out.connect(fg_out_address)
|
||||
fg_out.setblocking(0)
|
||||
|
||||
# setup input from SITL
|
||||
sim_in = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
||||
sim_in.bind(sim_in_address)
|
||||
sim_in.setblocking(0)
|
||||
|
||||
# setup output to SITL
|
||||
sim_out = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
||||
sim_out.connect(sim_out_address)
|
||||
sim_out.setblocking(0)
|
||||
|
||||
# FG FDM object
|
||||
fdm = fgFDM.fgFDM()
|
||||
|
||||
# create the quadcopter model
|
||||
a = QuadCopter()
|
||||
|
||||
# motors initially off
|
||||
m = [0, 0, 0, 0]
|
||||
|
||||
lastt = time.time()
|
||||
frame_count = 0
|
||||
|
||||
# parse home
|
||||
v = opts.home.split(',')
|
||||
if len(v) != 4:
|
||||
print("home should be lat,lng,alt,hdg")
|
||||
sys.exit(1)
|
||||
a.home_latitude = float(v[0])
|
||||
a.home_longitude = float(v[1])
|
||||
a.home_altitude = float(v[2])
|
||||
a.latitude = a.home_latitude
|
||||
a.longitude = a.home_longitude
|
||||
a.altitude = a.home_altitude
|
||||
a.yaw = float(v[3])
|
||||
a.ground_level = a.home_altitude
|
||||
a.position.z = 0
|
||||
|
||||
|
||||
print("Starting at lat=%f lon=%f alt=%.1f heading=%.1f" % (
|
||||
a.home_latitude,
|
||||
a.home_longitude,
|
||||
a.home_altitude,
|
||||
a.yaw))
|
||||
|
||||
frame_time = 1.0/opts.rate
|
||||
sleep_overhead = 0
|
||||
|
||||
while True:
|
||||
frame_start = time.time()
|
||||
sim_recv(m, a)
|
||||
|
||||
m2 = m[:]
|
||||
|
||||
a.update(m2)
|
||||
sim_send(m, a)
|
||||
frame_count += 1
|
||||
t = time.time()
|
||||
if t - lastt > 1.0:
|
||||
print("%.2f fps zspeed=%.2f zaccel=%.2f h=%.1f a=%.1f yaw=%.1f yawrate=%.1f" % (
|
||||
frame_count/(t-lastt),
|
||||
a.velocity.z, a.accel.z, a.position.z, a.altitude,
|
||||
a.yaw, a.yaw_rate))
|
||||
lastt = t
|
||||
frame_count = 0
|
||||
frame_end = time.time()
|
||||
if frame_end - frame_start < frame_time:
|
||||
dt = frame_time - (frame_end - frame_start)
|
||||
dt -= sleep_overhead
|
||||
if dt > 0:
|
||||
time.sleep(dt)
|
||||
sleep_overhead = 0.99*sleep_overhead + 0.01*(time.time() - frame_end)
|
||||
@ -1,12 +1,109 @@
|
||||
# utility code for autotest
|
||||
|
||||
import euclid, math
|
||||
import os, pexpect, sys, time
|
||||
from subprocess import call, check_call,Popen, PIPE
|
||||
|
||||
def RPY_to_XYZ(roll, pitch, yaw, length):
|
||||
'''convert roll, pitch and yaw in degrees to
|
||||
Vector3 in X, Y and Z
|
||||
|
||||
inputs:
|
||||
|
||||
roll, pitch and yaw are in degrees
|
||||
yaw == 0 when pointing North
|
||||
roll == zero when horizontal. +ve roll means tilting to the right
|
||||
pitch == zero when horizontal, +ve pitch means nose is pointing upwards
|
||||
length is in an arbitrary linear unit.
|
||||
When RPY is (0, 0, 0) then length represents distance upwards
|
||||
|
||||
outputs:
|
||||
Vector3:
|
||||
X is in units along latitude. +ve X means going North
|
||||
Y is in units along longitude +ve Y means going East
|
||||
Z is altitude in units (+ve is up)
|
||||
|
||||
test suite:
|
||||
|
||||
>>> RPY_to_XYZ(0, 0, 0, 1)
|
||||
Vector3(0.00, 0.00, 1.00)
|
||||
|
||||
>>> RPY_to_XYZ(0, 0, 0, 2)
|
||||
Vector3(0.00, 0.00, 2.00)
|
||||
|
||||
>>> RPY_to_XYZ(90, 0, 0, 1)
|
||||
Vector3(0.00, 1.00, 0.00)
|
||||
|
||||
>>> RPY_to_XYZ(-90, 0, 0, 1)
|
||||
Vector3(0.00, -1.00, 0.00)
|
||||
|
||||
>>> RPY_to_XYZ(0, 90, 0, 1)
|
||||
Vector3(-1.00, 0.00, 0.00)
|
||||
|
||||
>>> RPY_to_XYZ(0, -90, 0, 1)
|
||||
Vector3(1.00, 0.00, 0.00)
|
||||
|
||||
>>> RPY_to_XYZ(90, 0, 180, 1)
|
||||
Vector3(-0.00, -1.00, 0.00)
|
||||
|
||||
>>> RPY_to_XYZ(-90, 0, 180, 1)
|
||||
Vector3(0.00, 1.00, 0.00)
|
||||
|
||||
>>> RPY_to_XYZ(0, 90, 180, 1)
|
||||
Vector3(1.00, -0.00, 0.00)
|
||||
|
||||
>>> RPY_to_XYZ(0, -90, 180, 1)
|
||||
Vector3(-1.00, 0.00, 0.00)
|
||||
|
||||
>>> RPY_to_XYZ(90, 0, 90, 1)
|
||||
Vector3(-1.00, 0.00, 0.00)
|
||||
|
||||
>>> RPY_to_XYZ(-90, 0, 90, 1)
|
||||
Vector3(1.00, -0.00, 0.00)
|
||||
|
||||
>>> RPY_to_XYZ(90, 0, 270, 1)
|
||||
Vector3(1.00, -0.00, 0.00)
|
||||
|
||||
>>> RPY_to_XYZ(-90, 0, 270, 1)
|
||||
Vector3(-1.00, 0.00, 0.00)
|
||||
|
||||
>>> RPY_to_XYZ(0, 90, 90, 1)
|
||||
Vector3(-0.00, -1.00, 0.00)
|
||||
|
||||
>>> RPY_to_XYZ(0, -90, 90, 1)
|
||||
Vector3(0.00, 1.00, 0.00)
|
||||
|
||||
>>> RPY_to_XYZ(0, 90, 270, 1)
|
||||
Vector3(0.00, 1.00, 0.00)
|
||||
|
||||
>>> RPY_to_XYZ(0, -90, 270, 1)
|
||||
Vector3(-0.00, -1.00, 0.00)
|
||||
|
||||
'''
|
||||
|
||||
v = euclid.Vector3(0, 0, length)
|
||||
v = euclid.Quaternion.new_rotate_euler(-math.radians(pitch), 0, -math.radians(roll)) * v
|
||||
v = euclid.Quaternion.new_rotate_euler(0, math.radians(yaw), 0) * v
|
||||
return v
|
||||
|
||||
|
||||
def m2ft(x):
|
||||
'''meters to feet'''
|
||||
return float(x) / 0.3048
|
||||
|
||||
def ft2m(x):
|
||||
'''feet to meters'''
|
||||
return float(x) * 0.3048
|
||||
|
||||
def kt2mps(x):
|
||||
return x * 0.514444444
|
||||
|
||||
def mps2kt(x):
|
||||
return x / 0.514444444
|
||||
|
||||
def topdir():
|
||||
'''return top of git tree where autotest is running from'''
|
||||
d = os.path.dirname(os.path.realpath(__file__))
|
||||
assert(os.path.basename(d)=='pysim')
|
||||
d = os.path.dirname(d)
|
||||
assert(os.path.basename(d)=='autotest')
|
||||
d = os.path.dirname(d)
|
||||
assert(os.path.basename(d)=='Tools')
|
||||
@ -74,14 +171,10 @@ def pexpect_close(p):
|
||||
'''close a pexpect child'''
|
||||
global close_list
|
||||
|
||||
xvfb_server_num = getattr(p, 'xvfb_server_num', None)
|
||||
if xvfb_server_num is not None:
|
||||
kill_xvfb(xvfb_server_num)
|
||||
try:
|
||||
p.close()
|
||||
except Exception:
|
||||
pass
|
||||
time.sleep(1)
|
||||
try:
|
||||
p.close(force=True)
|
||||
except Exception:
|
||||
@ -95,6 +188,13 @@ def pexpect_close_all():
|
||||
for p in close_list[:]:
|
||||
pexpect_close(p)
|
||||
|
||||
def pexpect_drain(p):
|
||||
'''drain any pending input'''
|
||||
try:
|
||||
p.read_nonblocking(1000, timeout=0)
|
||||
except pexpect.TIMEOUT:
|
||||
pass
|
||||
|
||||
def start_SIL(atype, valgrind=False, wipe=False, CLI=False, height=None):
|
||||
'''launch a SIL instance'''
|
||||
cmd=""
|
||||
@ -108,6 +208,7 @@ def start_SIL(atype, valgrind=False, wipe=False, CLI=False, height=None):
|
||||
if height is not None:
|
||||
cmd += ' -H %u' % height
|
||||
ret = pexpect.spawn(cmd, logfile=sys.stdout, timeout=5)
|
||||
ret.delaybeforesend = 0
|
||||
pexpect_autoclose(ret)
|
||||
ret.expect('Waiting for connection')
|
||||
return ret
|
||||
@ -127,6 +228,7 @@ def start_MAVProxy_SIL(atype, aircraft=None, setup=False, master='tcp:127.0.0.1:
|
||||
if options is not None:
|
||||
cmd += ' ' + options
|
||||
ret = pexpect.spawn(cmd, logfile=logfile, timeout=60)
|
||||
ret.delaybeforesend = 0
|
||||
pexpect_autoclose(ret)
|
||||
return ret
|
||||
|
||||
@ -179,12 +281,15 @@ def lock_file(fname):
|
||||
return None
|
||||
return f
|
||||
|
||||
def kill_xvfb(server_num):
|
||||
'''Xvfb is tricky to kill!'''
|
||||
def check_parent(parent_pid=os.getppid()):
|
||||
'''check our parent process is still alive'''
|
||||
try:
|
||||
import signal
|
||||
pid = int(open('/tmp/.X%s-lock' % server_num).read().strip())
|
||||
print("Killing Xvfb process %u" % pid)
|
||||
os.kill(pid, signal.SIGINT)
|
||||
except Exception, msg:
|
||||
print("failed to kill Xvfb process - %s" % msg)
|
||||
os.kill(parent_pid, 0)
|
||||
except Exception:
|
||||
print("Parent had finished - exiting")
|
||||
sys.exit(1)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
import doctest
|
||||
doctest.testmod()
|
||||
@ -268,6 +268,7 @@ showsources:
|
||||
$(SKETCHELF): $(SKETCHOBJS) $(LIBOBJS) $(CORELIB)
|
||||
$(RULEHDR)
|
||||
$(v)$(LD) $(LDFLAGS) -o $@ $^ $(LIBS)
|
||||
@echo Built $@
|
||||
|
||||
#
|
||||
# Build sketch objects
|
||||
|
||||
@ -128,6 +128,7 @@ static void tcp_start_connection(unsigned int serial_port, bool wait_for_connect
|
||||
fprintf(stderr, "accept() error - %s", strerror(errno));
|
||||
exit(1);
|
||||
}
|
||||
setsockopt(s->fd, SOL_SOCKET, SO_REUSEADDR, &one, sizeof(one));
|
||||
setsockopt(s->fd, IPPROTO_TCP, TCP_NODELAY, &one, sizeof(one));
|
||||
s->connected = true;
|
||||
if (!desktop_state.slider) {
|
||||
@ -174,6 +175,7 @@ static void check_connection(struct tcp_state *s)
|
||||
int one = 1;
|
||||
s->connected = true;
|
||||
setsockopt(s->fd, IPPROTO_TCP, TCP_NODELAY, &one, sizeof(one));
|
||||
setsockopt(s->fd, SOL_SOCKET, SO_REUSEADDR, &one, sizeof(one));
|
||||
printf("New connection on serial port %u\n", s->serial_port);
|
||||
if (!desktop_state.slider) {
|
||||
set_nonblocking(s->fd);
|
||||
|
||||
@ -2,6 +2,7 @@
|
||||
#define _DESKTOP_H
|
||||
|
||||
#include <unistd.h>
|
||||
#include <sys/time.h>
|
||||
|
||||
struct desktop_info {
|
||||
bool slider; // slider switch state, True means CLI mode
|
||||
@ -21,7 +22,10 @@ ssize_t sitl_gps_read(int fd, void *buf, size_t count);
|
||||
void sitl_update_compass(float heading, float roll, float pitch, float yaw);
|
||||
void sitl_update_gps(float latitude, float longitude, float altitude,
|
||||
float speedN, float speedE, bool have_lock);
|
||||
void sitl_update_adc(float roll, float pitch, float yaw, float airspeed);
|
||||
void sitl_update_adc(float roll, float pitch, float yaw,
|
||||
float rollRate, float pitchRate, float yawRate,
|
||||
float xAccel, float yAccel, float zAccel,
|
||||
float airspeed);
|
||||
void sitl_setup_adc(void);
|
||||
void sitl_update_barometer(float altitude);
|
||||
|
||||
|
||||
@ -31,32 +31,43 @@
|
||||
#include "desktop.h"
|
||||
#include "util.h"
|
||||
|
||||
#define FGIN_PORT 5501
|
||||
#define FGOUT_PORT 5502
|
||||
/*
|
||||
the sitl_fdm packet is received by the SITL build from the flight
|
||||
simulator. This is used to feed the internal sensor emulation
|
||||
*/
|
||||
struct sitl_fdm {
|
||||
// little-endian packet format
|
||||
double latitude, longitude; // degrees
|
||||
double altitude; // MSL
|
||||
double heading; // degrees
|
||||
double speedN, speedE; // m/s
|
||||
double xAccel, yAccel, zAccel; // m/s/s in body frame
|
||||
double rollRate, pitchRate, yawRate; // degrees/s/s in earth frame
|
||||
double rollDeg, pitchDeg, yawDeg; // euler angles, degrees
|
||||
double airspeed; // m/s
|
||||
uint32_t magic; // 0x4c56414e
|
||||
};
|
||||
|
||||
|
||||
#define SIMIN_PORT 5501
|
||||
#define RCOUT_PORT 5502
|
||||
|
||||
static int sitl_fd;
|
||||
struct sockaddr_in fgout_addr;
|
||||
struct sockaddr_in rcout_addr;
|
||||
static pid_t parent_pid;
|
||||
struct ADC_UDR2 UDR2;
|
||||
struct RC_ICR4 ICR4;
|
||||
extern AP_TimerProcess timer_scheduler;
|
||||
extern Arduino_Mega_ISR_Registry isr_registry;
|
||||
|
||||
static volatile struct {
|
||||
double latitude, longitude; // degrees
|
||||
double altitude; // MSL
|
||||
double heading; // degrees
|
||||
double speedN, speedE; // m/s
|
||||
double roll, pitch, yaw; // degrees
|
||||
double airspeed; // m/s
|
||||
uint32_t update_count;
|
||||
} sim_state;
|
||||
static struct sitl_fdm sim_state;
|
||||
static uint32_t update_count;
|
||||
|
||||
|
||||
/*
|
||||
setup a FGear listening UDP port, using protocol from MAVLink.xml
|
||||
setup a SITL FDM listening UDP port
|
||||
*/
|
||||
static void setup_fgear(void)
|
||||
static void setup_fdm(void)
|
||||
{
|
||||
int one=1, ret;
|
||||
struct sockaddr_in sockaddr;
|
||||
@ -66,7 +77,7 @@ static void setup_fgear(void)
|
||||
#ifdef HAVE_SOCK_SIN_LEN
|
||||
sockaddr.sin_len = sizeof(sockaddr);
|
||||
#endif
|
||||
sockaddr.sin_port = htons(FGIN_PORT);
|
||||
sockaddr.sin_port = htons(SIMIN_PORT);
|
||||
sockaddr.sin_family = AF_INET;
|
||||
|
||||
sitl_fd = socket(AF_INET, SOCK_DGRAM, 0);
|
||||
@ -89,25 +100,16 @@ static void setup_fgear(void)
|
||||
}
|
||||
|
||||
/*
|
||||
check for a fgear packet
|
||||
check for a SITL FDM packet
|
||||
*/
|
||||
static void sitl_fgear_input(void)
|
||||
static void sitl_fdm_input(void)
|
||||
{
|
||||
ssize_t size;
|
||||
struct fg_mavlink {
|
||||
double latitude, longitude, altitude, heading,
|
||||
speedN, speedE,
|
||||
xAccel, yAccel, zAccel,
|
||||
rollRate, pitchRate, yawRate,
|
||||
rollDeg, pitchDeg, yawDeg,
|
||||
airspeed;
|
||||
uint32_t magic;
|
||||
};
|
||||
struct pwm_packet {
|
||||
uint16_t pwm[8];
|
||||
};
|
||||
union {
|
||||
struct fg_mavlink fg_pkt;
|
||||
struct sitl_fdm fg_pkt;
|
||||
struct pwm_packet pwm_pkt;
|
||||
} d;
|
||||
|
||||
@ -117,11 +119,8 @@ static void sitl_fgear_input(void)
|
||||
static uint32_t last_report;
|
||||
static uint32_t count;
|
||||
|
||||
/* sigh, its big-endian */
|
||||
swap_doubles(&d.fg_pkt.latitude, 16);
|
||||
d.fg_pkt.magic = ntohl(d.fg_pkt.magic);
|
||||
if (d.fg_pkt.magic != 0x4c56414d) {
|
||||
printf("Bad fgear packet - magic=0x%08x\n", d.fg_pkt.magic);
|
||||
if (d.fg_pkt.magic != 0x4c56414e) {
|
||||
printf("Bad FDM packet - magic=0x%08x\n", d.fg_pkt.magic);
|
||||
return;
|
||||
}
|
||||
|
||||
@ -132,17 +131,8 @@ static void sitl_fgear_input(void)
|
||||
return;
|
||||
}
|
||||
|
||||
sim_state.latitude = d.fg_pkt.latitude;
|
||||
sim_state.longitude = d.fg_pkt.longitude;
|
||||
sim_state.altitude = ft2m(d.fg_pkt.altitude);
|
||||
sim_state.speedN = ft2m(d.fg_pkt.speedN);
|
||||
sim_state.speedE = ft2m(d.fg_pkt.speedE);
|
||||
sim_state.roll = d.fg_pkt.rollDeg;
|
||||
sim_state.pitch = d.fg_pkt.pitchDeg;
|
||||
sim_state.yaw = d.fg_pkt.yawDeg;
|
||||
sim_state.heading = d.fg_pkt.heading;
|
||||
sim_state.airspeed = kt2mps(d.fg_pkt.airspeed);
|
||||
sim_state.update_count++;
|
||||
sim_state = d.fg_pkt;
|
||||
update_count++;
|
||||
|
||||
count++;
|
||||
if (millis() - last_report > 1000) {
|
||||
@ -168,47 +158,13 @@ static void sitl_fgear_input(void)
|
||||
|
||||
}
|
||||
|
||||
/*
|
||||
send RC outputs to simulator for a quadcopter
|
||||
*/
|
||||
static void sitl_quadcopter_output(uint16_t pwm[8])
|
||||
{
|
||||
struct fg_output {
|
||||
float throttle[4];
|
||||
uint16_t pwm[8];
|
||||
} pkt;
|
||||
for (uint8_t i=0; i<8; i++) {
|
||||
pkt.pwm[i] = htonl(pwm[i]);
|
||||
}
|
||||
for (uint8_t i=0; i<4; i++) {
|
||||
pkt.throttle[i] = swap_float((pwm[i]-1000) / 1000.0);
|
||||
}
|
||||
sendto(sitl_fd, &pkt, sizeof(pkt), MSG_DONTWAIT, (const sockaddr *)&fgout_addr, sizeof(fgout_addr));
|
||||
}
|
||||
|
||||
/*
|
||||
send RC outputs to simulator for a plane
|
||||
*/
|
||||
static void sitl_plane_output(uint16_t pwm[8])
|
||||
{
|
||||
double servo[4];
|
||||
|
||||
servo[0] = (((int)pwm[0]) - 1500)/500.0;
|
||||
servo[1] = (((int)pwm[1]) - 1500)/500.0;
|
||||
servo[2] = (((int)pwm[3]) - 1500)/500.0;
|
||||
servo[3] = (pwm[2] - 1000) / 1000.0;
|
||||
swap_doubles(servo, 4);
|
||||
sendto(sitl_fd, &servo, sizeof(servo), MSG_DONTWAIT, (const sockaddr *)&fgout_addr, sizeof(fgout_addr));
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
send RC outputs to simulator for a quadcopter
|
||||
*/
|
||||
static void sitl_simulator_output(void)
|
||||
{
|
||||
static uint32_t last_update;
|
||||
uint16_t pwm[8];
|
||||
uint16_t pwm[11];
|
||||
/* this maps the registers used for PWM outputs. The RC
|
||||
* driver updates these whenever it wants the channel output
|
||||
* to change */
|
||||
@ -218,14 +174,12 @@ static void sitl_simulator_output(void)
|
||||
uint8_t i;
|
||||
|
||||
if (last_update == 0) {
|
||||
if (desktop_state.quadcopter) {
|
||||
for (i=0; i<8; i++) {
|
||||
(*reg[i]) = 1000*2;
|
||||
}
|
||||
} else {
|
||||
for (i=0; i<11; i++) {
|
||||
(*reg[i]) = 1000*2;
|
||||
}
|
||||
if (!desktop_state.quadcopter) {
|
||||
(*reg[0]) = (*reg[1]) = (*reg[3]) = 1500*2;
|
||||
(*reg[2]) = (*reg[4]) = (*reg[6]) = 1000*2;
|
||||
(*reg[5]) = (*reg[7]) = 1800*2;
|
||||
(*reg[7]) = 1800*2;
|
||||
}
|
||||
}
|
||||
|
||||
@ -235,17 +189,11 @@ static void sitl_simulator_output(void)
|
||||
}
|
||||
last_update = millis();
|
||||
|
||||
for (i=0; i<8; i++) {
|
||||
for (i=0; i<11; i++) {
|
||||
// the registers are 2x the PWM value
|
||||
pwm[i] = (*reg[i])/2;
|
||||
}
|
||||
|
||||
if (desktop_state.quadcopter) {
|
||||
sitl_quadcopter_output(pwm);
|
||||
} else {
|
||||
sitl_plane_output(pwm);
|
||||
}
|
||||
|
||||
sendto(sitl_fd, (void*)pwm, sizeof(pwm), MSG_DONTWAIT, (const sockaddr *)&rcout_addr, sizeof(rcout_addr));
|
||||
}
|
||||
|
||||
/*
|
||||
@ -261,7 +209,7 @@ static void timer_handler(int signum)
|
||||
}
|
||||
|
||||
/* check for packet from flight sim */
|
||||
sitl_fgear_input();
|
||||
sitl_fdm_input();
|
||||
|
||||
// trigger all timers
|
||||
timer_scheduler.run();
|
||||
@ -274,22 +222,25 @@ static void timer_handler(int signum)
|
||||
// send RC output to flight sim
|
||||
sitl_simulator_output();
|
||||
|
||||
if (sim_state.update_count == 0) {
|
||||
if (update_count == 0) {
|
||||
sitl_update_gps(0, 0, 0, 0, 0, false);
|
||||
return;
|
||||
}
|
||||
|
||||
if (sim_state.update_count == last_update_count) {
|
||||
if (update_count == last_update_count) {
|
||||
return;
|
||||
}
|
||||
last_update_count = sim_state.update_count;
|
||||
last_update_count = update_count;
|
||||
|
||||
sitl_update_gps(sim_state.latitude, sim_state.longitude,
|
||||
sim_state.altitude,
|
||||
sim_state.speedN, sim_state.speedE, true);
|
||||
sitl_update_adc(sim_state.roll, sim_state.pitch, sim_state.heading, sim_state.airspeed);
|
||||
sitl_update_adc(sim_state.rollDeg, sim_state.pitchDeg, sim_state.yawDeg,
|
||||
sim_state.rollRate, sim_state.pitchRate, sim_state.yawRate,
|
||||
sim_state.xAccel, sim_state.yAccel, sim_state.zAccel,
|
||||
sim_state.airspeed);
|
||||
sitl_update_barometer(sim_state.altitude);
|
||||
sitl_update_compass(sim_state.heading, sim_state.roll, sim_state.pitch, sim_state.heading);
|
||||
sitl_update_compass(sim_state.heading, sim_state.rollDeg, sim_state.pitchDeg, sim_state.heading);
|
||||
}
|
||||
|
||||
|
||||
@ -322,18 +273,18 @@ void sitl_setup(void)
|
||||
{
|
||||
parent_pid = getppid();
|
||||
|
||||
fgout_addr.sin_family = AF_INET;
|
||||
fgout_addr.sin_port = htons(FGOUT_PORT);
|
||||
inet_pton(AF_INET, "127.0.0.1", &fgout_addr.sin_addr);
|
||||
rcout_addr.sin_family = AF_INET;
|
||||
rcout_addr.sin_port = htons(RCOUT_PORT);
|
||||
inet_pton(AF_INET, "127.0.0.1", &rcout_addr.sin_addr);
|
||||
|
||||
setup_timer();
|
||||
setup_fgear();
|
||||
setup_fdm();
|
||||
sitl_setup_adc();
|
||||
printf("Starting SITL input\n");
|
||||
|
||||
// setup some initial values
|
||||
sitl_update_barometer(desktop_state.initial_height);
|
||||
sitl_update_adc(0, 0, 0, 0);
|
||||
sitl_update_adc(0, 0, 0, 0, 0, 0, 0, 0, -9.8, 0);
|
||||
sitl_update_compass(0, 0, 0, 0);
|
||||
sitl_update_gps(0, 0, 0, 0, 0, false);
|
||||
}
|
||||
|
||||
@ -41,64 +41,41 @@ static uint16_t airspeed_sensor(float airspeed)
|
||||
|
||||
inputs are in degrees
|
||||
*/
|
||||
void sitl_update_adc(float roll, float pitch, float yaw, float airspeed)
|
||||
void sitl_update_adc(float roll, float pitch, float yaw,
|
||||
float rollRate, float pitchRate, float yawRate,
|
||||
float xAccel, float yAccel, float zAccel,
|
||||
float airspeed)
|
||||
{
|
||||
static const uint8_t sensor_map[6] = { 1, 2, 0, 4, 5, 6 };
|
||||
static const float _sensor_signs[6] = { 1, -1, -1, 1, -1, -1 };
|
||||
const float accel_offset = 2041;
|
||||
const float gyro_offset = 1658;
|
||||
#define ToRad(x) (x*0.01745329252) // *pi/180
|
||||
const float _gyro_gain_x = 0.4;
|
||||
const float _gyro_gain_y = 0.41;
|
||||
const float _gyro_gain_z = 0.41;
|
||||
const float _gyro_gain_x = ToRad(0.4);
|
||||
const float _gyro_gain_y = ToRad(0.41);
|
||||
const float _gyro_gain_z = ToRad(0.41);
|
||||
const float _accel_scale = 9.80665 / 423.8;
|
||||
float adc[7];
|
||||
float xAccel, yAccel, zAccel, scale;
|
||||
float rollRate, pitchRate, yawRate;
|
||||
static uint32_t last_update;
|
||||
static float last_roll, last_pitch, last_yaw;
|
||||
unsigned long delta_t;
|
||||
float phi, theta, phiDot, thetaDot, psiDot;
|
||||
float p, q, r;
|
||||
|
||||
// 200Hz max
|
||||
if (micros() - last_update < 5000) {
|
||||
return;
|
||||
}
|
||||
/* convert the angular velocities from earth frame to
|
||||
body frame. Thanks to James Goppert for the formula
|
||||
*/
|
||||
phi = ToRad(roll);
|
||||
theta = ToRad(pitch);
|
||||
phiDot = ToRad(rollRate);
|
||||
thetaDot = ToRad(pitchRate);
|
||||
psiDot = ToRad(yawRate);
|
||||
|
||||
/* map roll/pitch/yaw to values the accelerometer would see */
|
||||
xAccel = sin(ToRad(pitch)) * cos(ToRad(roll));
|
||||
yAccel = -sin(ToRad(roll)) * cos(ToRad(pitch));
|
||||
zAccel = -cos(ToRad(roll)) * cos(ToRad(pitch));
|
||||
scale = 9.81 / sqrt((xAccel*xAccel)+(yAccel*yAccel)+(zAccel*zAccel));
|
||||
xAccel *= scale;
|
||||
yAccel *= scale;
|
||||
zAccel *= scale;
|
||||
|
||||
/* map roll/pitch/yaw to values the gyro would see */
|
||||
if (last_update == 0) {
|
||||
rollRate = 0;
|
||||
pitchRate = 0;
|
||||
yawRate = 0;
|
||||
delta_t = micros();
|
||||
} else {
|
||||
delta_t = micros() - last_update;
|
||||
float rollChange, pitchChange, yawChange;
|
||||
rollChange = normalise180(roll - last_roll);
|
||||
pitchChange = normalise180(pitch - last_pitch);
|
||||
yawChange = normalise180(yaw - last_yaw);
|
||||
rollRate = 1.0e6 * rollChange / delta_t;
|
||||
pitchRate = 1.0e6 * pitchChange / delta_t;
|
||||
yawRate = 1.0e6 * yawChange / delta_t;
|
||||
}
|
||||
last_update += delta_t;
|
||||
|
||||
last_roll = roll;
|
||||
last_pitch = pitch;
|
||||
last_yaw = yaw;
|
||||
p = phiDot - psiDot*sin(theta);
|
||||
q = cos(phi)*thetaDot + sin(phi)*psiDot*cos(theta);
|
||||
r = cos(phi)*psiDot*cos(theta) - sin(phi)*thetaDot;
|
||||
|
||||
/* work out the ADC channel values */
|
||||
adc[0] = (rollRate / (_gyro_gain_x * _sensor_signs[0])) + gyro_offset;
|
||||
adc[1] = (pitchRate / (_gyro_gain_y * _sensor_signs[1])) + gyro_offset;
|
||||
adc[2] = (yawRate / (_gyro_gain_z * _sensor_signs[2])) + gyro_offset;
|
||||
adc[0] = (p / (_gyro_gain_x * _sensor_signs[0])) + gyro_offset;
|
||||
adc[1] = (q / (_gyro_gain_y * _sensor_signs[1])) + gyro_offset;
|
||||
adc[2] = (r / (_gyro_gain_z * _sensor_signs[2])) + gyro_offset;
|
||||
|
||||
adc[3] = (xAccel / (_accel_scale * _sensor_signs[3])) + accel_offset;
|
||||
adc[4] = (yAccel / (_accel_scale * _sensor_signs[4])) + accel_offset;
|
||||
@ -123,14 +100,22 @@ void sitl_update_adc(float roll, float pitch, float yaw, float airspeed)
|
||||
|
||||
#endif
|
||||
|
||||
#if 0
|
||||
static uint32_t last_report;
|
||||
uint32_t tnow = millis();
|
||||
extern AP_DCM dcm;
|
||||
Vector3f omega = dcm.get_gyro();
|
||||
printf("dt=%5u adc[2]=%6.1f roll=%6.1f / %6.1f yaw=%6.1f / %6.1f yawRate=%6.3f / %6.3f\n",
|
||||
(unsigned)delta_t,
|
||||
adc[2],
|
||||
roll, dcm.roll_sensor/100.0, yaw, dcm.yaw_sensor/100.0, yawRate, ToDeg(omega.z));
|
||||
#endif
|
||||
// report roll/pitch discrepancies
|
||||
if (tnow - last_report > 5000 ||
|
||||
(tnow - last_report > 1000 &&
|
||||
(fabs(roll - dcm.roll_sensor/100.0) > 5.0 ||
|
||||
fabs(pitch - dcm.pitch_sensor/100.0) > 5.0))) {
|
||||
last_report = tnow;
|
||||
printf("roll=%5.1f / %5.1f pitch=%5.1f / %5.1f rr=%5.2f / %5.2f pr=%5.2f / %5.2f\n",
|
||||
roll, dcm.roll_sensor/100.0,
|
||||
pitch, dcm.pitch_sensor/100.0,
|
||||
rollRate, ToDeg(omega.x),
|
||||
pitchRate, ToDeg(omega.y));
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
@ -16,64 +16,6 @@
|
||||
#include "desktop.h"
|
||||
|
||||
|
||||
/*
|
||||
swap one double
|
||||
*/
|
||||
double swap_double(double d)
|
||||
{
|
||||
union {
|
||||
double d;
|
||||
uint8_t b[8];
|
||||
} in, out;
|
||||
int i;
|
||||
in.d = d;
|
||||
for (i=0; i<8; i++) {
|
||||
out.b[7-i] = in.b[i];
|
||||
}
|
||||
return out.d;
|
||||
}
|
||||
|
||||
/*
|
||||
swap an array of doubles
|
||||
*/
|
||||
void swap_doubles(double *d, unsigned count)
|
||||
{
|
||||
while (count--) {
|
||||
*d = swap_double(*d);
|
||||
d++;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
swap one float
|
||||
*/
|
||||
float swap_float(float f)
|
||||
{
|
||||
union {
|
||||
float f;
|
||||
uint8_t b[4];
|
||||
} in, out;
|
||||
int i;
|
||||
in.f = f;
|
||||
for (i=0; i<4; i++) {
|
||||
out.b[3-i] = in.b[i];
|
||||
}
|
||||
return out.f;
|
||||
}
|
||||
|
||||
/*
|
||||
swap an array of floats
|
||||
*/
|
||||
void swap_floats(float *f, unsigned count)
|
||||
{
|
||||
while (count--) {
|
||||
*f = swap_float(*f);
|
||||
f++;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void set_nonblocking(int fd)
|
||||
{
|
||||
unsigned v = fcntl(fd, F_GETFL, 0);
|
||||
|
||||
@ -3,10 +3,6 @@
|
||||
#define kt2mps(x) ((x) * 0.514444444)
|
||||
#define sqr(x) ((x)*(x))
|
||||
|
||||
double swap_double(double d);
|
||||
void swap_doubles(double *d, unsigned count);
|
||||
float swap_float(float f);
|
||||
void swap_floats(float *f, unsigned count);
|
||||
void set_nonblocking(int fd);
|
||||
double normalise(double v, double min, double max);
|
||||
double normalise180(double v);
|
||||
|
||||
Loading…
Reference in New Issue
Block a user