From 3460115123b6f8f81e5ebdc0c212f58156efa0ed Mon Sep 17 00:00:00 2001 From: Michael Oborne Date: Mon, 23 Jan 2012 10:12:56 +0800 Subject: [PATCH] firmware build --- .../Firmware/firmware1.xml | 252 ++++++++++++++++++ 1 file changed, 252 insertions(+) create mode 100644 Tools/ArdupilotMegaPlanner/Firmware/firmware1.xml diff --git a/Tools/ArdupilotMegaPlanner/Firmware/firmware1.xml b/Tools/ArdupilotMegaPlanner/Firmware/firmware1.xml new file mode 100644 index 0000000000..456532f277 --- /dev/null +++ b/Tools/ArdupilotMegaPlanner/Firmware/firmware1.xml @@ -0,0 +1,252 @@ + + + + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-1280.hex + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-2560.hex + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-2560-2.hex + ArduPlane V2.28 + + 12 + + + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/APHIL-1280.hex + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/APHIL-2560.hex + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/APHIL-2560-2.hex + ArduPlane V2.28 HIL + +#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 + + 12 + + + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.hex + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560.hex + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560-2.hex + ArduCopter V2.2 b4 Quad + +#define FRAME_CONFIG QUAD_FRAME + + + 114 + + + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-1280.hex + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560.hex + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560-2.hex + ArduCopter V2.2 b4 Tri + +#define FRAME_CONFIG TRI_FRAME + + + 114 + + + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.hex + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.hex + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560-2.hex + ArduCopter V2.2 b4 Hexa X + +#define FRAME_CONFIG HEXA_X_FRAME + + + 114 + + + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.hex + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.hex + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560-2.hex + ArduCopter V2.2 b4 Y6 + +#define FRAME_CONFIG Y6_FRAME + + + 114 + + + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-1280.hex + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-2560.hex + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-2560-2.hex + ArduCopter V2.2 b4 Octa V + +#define FRAME_CONFIG OCTA_V_FRAME + + + 114 + + + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-1280.hex + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-2560.hex + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-2560-2.hex + ArduCopter V2.2 b4 Octa X + +#define FRAME_CONFIG OCTA_FRAME + + + 114 + + + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-plus-1280.hex + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-plus-2560.hex + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-plus-2560-2.hex + ArduCopter V2.2 b4 Hexa Plus + +#define FRAME_CONFIG HEXA_PLUS_FRAME +#define FRAME_ORIENTATION PLUS_FRAME + + + 114 + + + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-plus-1280.hex + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-plus-2560.hex + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-plus-2560-2.hex + ArduCopter V2.2 b4 Octa Plus + +#define FRAME_CONFIG OCTA_QUAD_FRAME +#define FRAME_ORIENTATION PLUS_FRAME + + + 114 + + + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-1280.hex + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560.hex + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560-2.hex + ArduCopter V2.1.0r Heli (2560 only) + +#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 + + + 113 + + + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.hex + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.hex + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560-2.hex + ArduCopter V2.2 b4 Quad Hil + +#define FRAME_CONFIG QUAD_FRAME +#define FRAME_ORIENTATION PLUS_FRAME + +#define HIL_MODE HIL_MODE_ATTITUDE +#define ALLOW_RC_OVERRIDE ENABLED + + + + 114 + + + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.hex + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-2560.hex + http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-2560-2.hex + ArduCopter V2.1.0r Heli Hil + + +#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 + + + + 113 + +