mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-03-01 03:04:04 -04:00
77 lines
2.4 KiB
Plaintext
77 lines
2.4 KiB
Plaintext
# Parrot Disco fixed-wing
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# IMUs:
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IMU Invensense I2C:2:0x68 ROTATION_PITCH_180_YAW_90
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define INS_MAX_INSTANCES 3
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# Compasses
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COMPASS AK8963 I2C:1:0x0d ROTATION_NONE
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# Baros:
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BARO MS56XX I2C:1:0x77 AP_Baro_MS56XX::BARO_MS5607
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define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/ardupilot/logs"
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define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/ardupilot/terrain"
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define HAL_BOARD_STORAGE_DIRECTORY "/data/ftp/internal_000/ardupilot"
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# heater support:
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define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM
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define HAL_LINUX_HEAT_PWM_NUM 10
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define HAL_LINUX_HEAT_KP 20000
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define HAL_LINUX_HEAT_KI 6
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define HAL_LINUX_HEAT_PERIOD_NS 125000
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define HAL_LINUX_HEAT_TARGET_TEMP 50
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define BEBOP_CAMV_PWM 9
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define BEBOP_CAMV_PWM_FREQ 43333333
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# in-built optical flow support:
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define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0"
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define HAL_OPTFLOW_ONBOARD_SUBDEV_PATH "/dev/v4l-subdev0"
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define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320
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define HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT 240
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define HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH 64
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define HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT 64
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define HAL_OPTFLOW_ONBOARD_CROP_WIDTH 240
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define HAL_OPTFLOW_ONBOARD_CROP_HEIGHT 240
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define HAL_OPTFLOW_ONBOARD_NBUFS 8
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define HAL_FLOW_PX4_MAX_FLOW_PIXEL 4
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define HAL_FLOW_PX4_BOTTOM_FLOW_FEATURE_THRESHOLD 30
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define HAL_FLOW_PX4_BOTTOM_FLOW_VALUE_THRESHOLD 5000
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define HAL_RCOUT_DISCO_BLDC_I2C_BUS 1
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define HAL_RCOUT_DISCO_BLDC_I2C_ADDR 0x08
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define HAL_PARAM_DEFAULTS_PATH "/data/ftp/internal_000/ardupilot/disco.parm"
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# focal length 2.21mm pixel size 3.6 um, 2x binning in each direction
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# 240x240 crop rescaled to 64x64
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#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.21 / (3.6 * 2.0 * 240 / 64))
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#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 0
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# the disco has challenges with its magnetic setup
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define AP_COMPASS_OFFSETS_MAX_DEFAULT 2200
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define HAL_GPIO_SCRIPT "/data/ftp/internal_000/ardupilot/gpio.sh"
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define AP_BATTERY_BEBOP_ENABLED AP_BATTERY_BACKEND_DEFAULT_ENABLED
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define HAL_BATT_MONITOR_DEFAULT AP_BattMonitor::Type::BEBOP
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define DEFAULT_NTF_LED_TYPES (Notify_LED_Board)
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define AP_NOTIFY_DISCO_LED_ENABLED 1
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# NAME BUS SUBDEV MODE BPW CS_PIN LOWSPD HIGHSPD
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LINUX_SPIDEV "bebop" 1 0 SPI_MODE_0 8 SPI_CS_KERNEL 320*KHZ 320*KHZ
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define HAL_LINUX_GPIO_AERO_ENABLED 1
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define AP_RANGEFINDER_BEBOP_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED && defined(HAVE_LIBIIO)
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# AP_InertialSensor configuration
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define INVENSENSE_EXT_SYNC_ENABLE 1
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// AP_Airspeed configuration
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define PSI_RANGE_DEFAULT 0.05
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