Revision e75a39881befb1d84749919b28e0dd03f1a03efb authored by Felix Ruess on 29 May 2012, 20:27:07 UTC, committed by Felix Ruess on 29 May 2012, 20:27:07 UTC
* currently only used for rotorcrafts * created and imu_nps implementation instead of using the sim arch to implement simulation of every IMU separately * updated makefiles and airframe files to new nps simulator
1 parent fedf204
control_panel.xml.example.booz
<?xml version="1.0"?>
<control_panel name="paparazzi control panel">
<section name="variables">
<variable name="downlink_serial_port" value="/dev/ttyUSB0"/>
<variable name="fbw_serial_port" value="/dev/ttyS1"/>
<variable name="ap_serial_port" value="/dev/ttyS0"/>
<variable name="ivy_bus" value="127:2010"/>
<variable name="map" value="muret_UTM.xml"/>
<variable name="flight_plan" value="flight_plans/muret1.xml"/>
</section>
<section name="programs">
<program name="Server" command="sw/ground_segment/tmtc/server">
<arg flag="-b" variable="ivy_bus"/>
</program>
<program name="Data Link" command="sw/ground_segment/tmtc/link">
<arg flag="-b" variable="ivy_bus"/>
</program>
<program name="GCS" command="sw/ground_segment/cockpit/gcs">
<arg flag="-b" variable="ivy_bus"/>
</program>
<program name="Messages" command="sw/ground_segment/tmtc/messages">
<arg flag="-b" variable="ivy_bus"/>
</program>
<program name="Settings" command="sw/ground_segment/tmtc/settings">
<arg flag="-b" variable="ivy_bus"/>
</program>
<program name="Log Plotter" command ="sw/logalizer/plot"/>
<program name="Real-time Plotter" command ="sw/logalizer/plotter"/>
<program name="Log File Player" command="sw/logalizer/play">
<arg flag="-b" variable="ivy_bus"/>
</program>
<program name="Simulator" command="sw/simulator/launchsitl">
<arg flag="-b" variable="ivy_bus"/>
</program>
<program name="Hardware in the Loop" command="sw/simulator/simhitl">
<arg flag="-fbw" variable="fbw_serial_port"/>
<arg flag="-ap" variable="ap_serial_port"/>
</program>
<program name="Environment Simulator" command="sw/simulator/gaia">
<arg flag="-b" variable="ivy_bus"/>
</program>
<program name="Http Server" command="sw/ground_segment/tmtc/boa"/>
</section>
<section name="sessions">
<session name="Flight with USB-serial modem">
<program name="Data Link">
<arg flag="-d" constant="/dev/ttyUSB0"/>
</program>
<program name="Server"/>
<program name="GCS"/>
</session>
<session name="Flight with Maxstream@57600">
<program name="Data Link">
<arg flag="-d" constant="/dev/paparazzi/xbee"/>
<arg flag="-transport" constant="xbee"/>
<arg flag="-s" constant="57600"/>
</program>
<program name="Server"/>
<program name="GCS"/>
</session>
<session name="Booz AHRS quat">
<program name="Messages">
<arg flag="-c" constant="telemetry"/>
</program>
<program name="Real-time Plotter">
<arg flag="-t" constant="rate : p"/>
<arg flag="-g" constant="950x300+0+20"/>
<arg flag="-u" constant="0.1"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_SIM_RATE_ATTITUDE:p'"/>
<arg flag="-c" constant="'*:telemetry:IMU_GYRO:gp:57.3'"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_RATE_LOOP:est_p:57.3'"/>
</program>
<program name="Real-time Plotter">
<arg flag="-t" constant="rate : q"/>
<arg flag="-g" constant="950x300+0+320"/>
<arg flag="-u" constant="0.1"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_SIM_RATE_ATTITUDE:q'"/>
<arg flag="-c" constant="'*:telemetry:IMU_GYRO:gq:57.3'"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_RATE_LOOP:est_q:57.3'"/>
</program>
<program name="Real-time Plotter">
<arg flag="-t" constant="rate : r"/>
<arg flag="-g" constant="950x300+0+620"/>
<arg flag="-u" constant="0.1"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_SIM_RATE_ATTITUDE:r'"/>
<arg flag="-c" constant="'*:telemetry:IMU_GYRO:gr:57.3'"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_RATE_LOOP:est_r:57.3'"/>
</program>
<program name="Real-time Plotter">
<arg flag="-t" constant="attitude : phi"/>
<arg flag="-g" constant="950x300+950+20"/>
<arg flag="-u" constant="0.1"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_SIM_RATE_ATTITUDE:phi'"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_ATT_LOOP:est_phi:57.3'"/>
<arg flag="-c" constant="'*:telemetry:AHRS_MEASURE:phi:57.3'"/>
</program>
<program name="Real-time Plotter">
<arg flag="-t" constant="attitude : theta"/>
<arg flag="-g" constant="950x300+950+320"/>
<arg flag="-u" constant="0.1"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_SIM_RATE_ATTITUDE:theta'"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_ATT_LOOP:est_theta:57.3'"/>
<arg flag="-c" constant="'*:telemetry:AHRS_MEASURE:theta:57.3'"/>
</program>
<program name="Real-time Plotter">
<arg flag="-t" constant="attitude : psi"/>
<arg flag="-g" constant="950x300+950+620"/>
<arg flag="-u" constant="0.1"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_SIM_RATE_ATTITUDE:psi'"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_ATT_LOOP:est_psi:57.3'"/>
<arg flag="-c" constant="'*:telemetry:AHRS_MEASURE:psi:57.3'"/>
</program>
<program name="Real-time Plotter">
<arg flag="-t" constant="ahrs : bp bq br"/>
<arg flag="-g" constant="950x300+0+920"/>
<arg flag="-u" constant="0.1"/>
<arg flag="-c" constant="'*:telemetry:AHRS_QUAT_STATE:bp:57.3'"/>
<arg flag="-c" constant="'*:telemetry:AHRS_QUAT_STATE:bq:57.3'"/>
<arg flag="-c" constant="'*:telemetry:AHRS_QUAT_STATE:br:57.3'"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_SIM_GYRO_BIAS:bp'"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_SIM_GYRO_BIAS:bq'"/>
<arg flag="-c" constant="'*:telemetry:BOOZ_SIM_GYRO_BIAS:br'"/>
</program>
<program name="Real-time Plotter">
<arg flag="-t" constant="ahrs : covariances"/>
<arg flag="-g" constant="950x300+950+920"/>
<arg flag="-u" constant="0.1"/>
<arg flag="-c" constant="'*:telemetry:AHRS_QUAT_COV:p_q0_q0'"/>
<arg flag="-c" constant="'*:telemetry:AHRS_QUAT_COV:p_q1_q1'"/>
<arg flag="-c" constant="'*:telemetry:AHRS_QUAT_COV:p_q2_q2'"/>
<arg flag="-c" constant="'*:telemetry:AHRS_QUAT_COV:p_q3_q3'"/>
<arg flag="-c" constant="'*:telemetry:AHRS_QUAT_COV:p_bp_bp'"/>
<arg flag="-c" constant="'*:telemetry:AHRS_QUAT_COV:p_bq_bq'"/>
<arg flag="-c" constant="'*:telemetry:AHRS_QUAT_COV:p_br_br'"/>
</program>
</session>
</section>
</control_panel>
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