firmware build

2012-01-23 10:12:56 +08:00 · 2012-01-23 10:12:56 +08:00 · 3460115123
parent 875770f38f
commit 3460115123
1 changed files with 252 additions and 0 deletions
--- a/Tools/ArdupilotMegaPlanner/Firmware/firmware1.xml
+++ b/Tools/ArdupilotMegaPlanner/Firmware/firmware1.xml
@ -0,0 +1,252 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<options>
+  <Firmware>
+    <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 V2.28  </name>
+    <desc></desc>
+    <format_version>12</format_version>
+  </Firmware>
+  <Firmware>
+    <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 V2.28 HIL</name>
+    <desc>
+#define FLIGHT_MODE_CHANNEL	8
+#define FLIGHT_MODE_1		AUTO
+#define FLIGHT_MODE_2		RTL
+#define FLIGHT_MODE_3		FLY_BY_WIRE_A
+#define FLIGHT_MODE_4       FLY_BY_WIRE_B
+#define FLIGHT_MODE_5       STABILIZE
+#define FLIGHT_MODE_6       MANUAL
+
+#define HIL_PROTOCOL        HIL_PROTOCOL_MAVLINK
+
+#define HIL_MODE            HIL_MODE_ATTITUDE
+
+#define HIL_PORT            0
+
+#define LOGGING_ENABLED DISABLED
+#define CLI_ENABLED DISABLED
+
+#define GPS_PROTOCOL 		GPS_PROTOCOL_MTK
+
+# define GCS_PROTOCOL        GCS_PROTOCOL_MAVLINK
+# define GCS_PORT            3
+
+#define AIRSPEED_SENSOR     ENABLED
+#define MAGNETOMETER        ENABLED
+#define AIRSPEED_CRUISE     25
+#define THROTTLE_FAILSAFE   ENABLED
+</desc>
+    <format_version>12</format_version>
+  </Firmware>
+  <Firmware>
+    <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 V2.2 b4 Quad</name>
+    <desc>
+#define FRAME_CONFIG QUAD_FRAME
+
+</desc>
+    <format_version>114</format_version>
+  </Firmware>
+  <Firmware>
+    <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 V2.2 b4 Tri</name>
+    <desc>
+#define FRAME_CONFIG TRI_FRAME
+
+</desc>
+    <format_version>114</format_version>
+  </Firmware>
+  <Firmware>
+    <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 V2.2 b4 Hexa X</name>
+    <desc>
+#define FRAME_CONFIG HEXA_X_FRAME
+
+</desc>
+    <format_version>114</format_version>
+  </Firmware>
+  <Firmware>
+    <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 V2.2 b4 Y6</name>
+    <desc>
+#define FRAME_CONFIG Y6_FRAME
+
+</desc>
+    <format_version>114</format_version>
+  </Firmware>
+  <Firmware>
+    <url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-1280.hex</url>
+    <url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-2560.hex</url2560>
+    <url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-2560-2.hex</url2560-2>
+    <name>ArduCopter V2.2 b4 Octa V</name>
+    <desc>
+#define FRAME_CONFIG OCTA_V_FRAME
+
+</desc>
+    <format_version>114</format_version>
+  </Firmware>
+  <Firmware>
+    <url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-1280.hex</url>
+    <url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-2560.hex</url2560>
+    <url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-2560-2.hex</url2560-2>
+    <name>ArduCopter V2.2 b4 Octa X</name>
+    <desc>
+#define FRAME_CONFIG OCTA_FRAME
+
+</desc>
+    <format_version>114</format_version>
+  </Firmware>
+  <Firmware>
+    <url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-plus-1280.hex</url>
+    <url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-plus-2560.hex</url2560>
+    <url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-plus-2560-2.hex</url2560-2>
+    <name>ArduCopter V2.2 b4 Hexa Plus</name>
+    <desc>
+#define FRAME_CONFIG HEXA_PLUS_FRAME
+#define FRAME_ORIENTATION PLUS_FRAME
+
+</desc>
+    <format_version>114</format_version>
+  </Firmware>
+  <Firmware>
+    <url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-plus-1280.hex</url>
+    <url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-plus-2560.hex</url2560>
+    <url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-plus-2560-2.hex</url2560-2>
+    <name>ArduCopter V2.2 b4 Octa Plus</name>
+    <desc>
+#define FRAME_CONFIG OCTA_QUAD_FRAME
+#define FRAME_ORIENTATION PLUS_FRAME
+
+</desc>
+    <format_version>114</format_version>
+  </Firmware>
+  <Firmware>
+    <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 V2.1.0r Heli (2560 only)</name>
+    <desc>
+#define AUTO_RESET_LOITER 0
+#define FRAME_CONFIG HELI_FRAME
+#define INSTANT_PWM ENABLED
+
+// DEFAULT PIDS
+
+// roll
+#define STABILIZE_ROLL_P 0.70
+#define STABILIZE_ROLL_I 0.025
+#define STABILIZE_ROLL_D 0.04
+#define STABILIZE_ROLL_IMAX 7
+
+//pitch
+#define STABILIZE_PITCH_P 0.70
+#define STABILIZE_PITCH_I 0.025
+#define STABILIZE_PITCH_D 0.04
+#define STABILIZE_PITCH_IMAX 7
+
+// yaw stablise
+#define STABILIZE_YAW_P  0.7
+#define STABILIZE_YAW_I  0.02
+#define STABILIZE_YAW_D  0.0
+
+// yaw rate
+#define RATE_YAW_P  0.135   
+#define RATE_YAW_I  0.0
+#define RATE_YAW_D  0.0
+
+// throttle
+#define THROTTLE_P 0.2
+#define THROTTLE_I 0.001
+#define THROTTLE_IMAX 100
+
+// navigation
+#define NAV_LOITER_P  1.1
+#define NAV_LOITER_I  0.03
+#define NAV_LOITER_D  0.02
+#define NAV_LOITER_IMAX  10
+
+</desc>
+    <format_version>113</format_version>
+  </Firmware>
+  <Firmware>
+    <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 V2.2 b4 Quad Hil</name>
+    <desc>
+#define FRAME_CONFIG QUAD_FRAME
+#define FRAME_ORIENTATION PLUS_FRAME
+
+#define HIL_MODE            HIL_MODE_ATTITUDE
+#define ALLOW_RC_OVERRIDE ENABLED
+
+
+</desc>
+    <format_version>114</format_version>
+  </Firmware>
+  <Firmware>
+    <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 V2.1.0r Heli Hil</name>
+    <desc>
+
+#define HIL_MODE            HIL_MODE_ATTITUDE
+#define ALLOW_RC_OVERRIDE ENABLED
+
+#define AUTO_RESET_LOITER 0
+#define FRAME_CONFIG HELI_FRAME
+
+// DEFAULT PIDS
+
+// roll
+#define STABILIZE_ROLL_P 0.70
+#define STABILIZE_ROLL_I 0.025
+#define STABILIZE_ROLL_D 0.04
+#define STABILIZE_ROLL_IMAX 7
+
+//pitch
+#define STABILIZE_PITCH_P 0.70
+#define STABILIZE_PITCH_I 0.025
+#define STABILIZE_PITCH_D 0.04
+#define STABILIZE_PITCH_IMAX 7
+
+// yaw stablise
+#define STABILIZE_YAW_P  0.7
+#define STABILIZE_YAW_I  0.02
+#define STABILIZE_YAW_D  0.0
+
+// yaw rate
+#define RATE_YAW_P  0.135   
+#define RATE_YAW_I  0.0
+#define RATE_YAW_D  0.0
+
+// throttle
+#define THROTTLE_P 0.2
+#define THROTTLE_I 0.001
+#define THROTTLE_IMAX 100
+
+// navigation
+#define NAV_LOITER_P  1.1
+#define NAV_LOITER_I  0.03
+#define NAV_LOITER_D  0.02
+#define NAV_LOITER_IMAX  10
+
+
+</desc>
+    <format_version>113</format_version>
+  </Firmware>
+</options>