Thomas Gubler
11 years ago
39 changed files with 505 additions and 231 deletions
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#!nsh |
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# |
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# TBS Caipirinha Flying Wing |
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# |
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# Thomas Gubler <thomasgubler@gmail.com> |
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# |
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sh /etc/init.d/rc.fw_defaults |
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if [ $DO_AUTOCONFIG == yes ] |
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then |
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# TODO: these are the X5 default parameters, update them to the caipi |
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param set FW_AIRSPD_MIN 15 |
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param set FW_AIRSPD_TRIM 20 |
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param set FW_AIRSPD_MAX 40 |
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param set FW_ATT_TC 0.3 |
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param set FW_L1_DAMPING 0.74 |
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param set FW_L1_PERIOD 15 |
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param set FW_PR_FF 0.3 |
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param set FW_PR_I 0 |
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param set FW_PR_IMAX 0.2 |
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param set FW_PR_P 0.03 |
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param set FW_P_LIM_MAX 45 |
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param set FW_P_LIM_MIN -45 |
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param set FW_P_RMAX_NEG 0 |
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param set FW_P_RMAX_POS 0 |
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param set FW_P_ROLLFF 0 |
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param set FW_RR_FF 0.3 |
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param set FW_RR_I 0 |
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param set FW_RR_IMAX 0.2 |
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param set FW_RR_P 0.03 |
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param set FW_R_LIM 60 |
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param set FW_R_RMAX 0 |
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param set FW_T_HRATE_P 0.01 |
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param set FW_T_RLL2THR 15 |
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param set FW_T_SRATE_P 0.01 |
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param set FW_T_TIME_CONST 5 |
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fi |
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set MIXER FMU_Q |
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@ -0,0 +1,103 @@
@@ -0,0 +1,103 @@
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/****************************************************************************
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* |
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* Copyright (C) 2012 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/**
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* @file Subscription.cpp |
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* |
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*/ |
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#include "Subscription.hpp" |
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#include "topics/parameter_update.h" |
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#include "topics/actuator_controls.h" |
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#include "topics/vehicle_gps_position.h" |
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#include "topics/sensor_combined.h" |
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#include "topics/vehicle_attitude.h" |
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#include "topics/vehicle_global_position.h" |
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#include "topics/encoders.h" |
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#include "topics/position_setpoint_triplet.h" |
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#include "topics/vehicle_status.h" |
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#include "topics/manual_control_setpoint.h" |
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#include "topics/vehicle_local_position_setpoint.h" |
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#include "topics/vehicle_local_position.h" |
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#include "topics/vehicle_attitude_setpoint.h" |
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#include "topics/vehicle_rates_setpoint.h" |
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namespace uORB |
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{ |
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bool __EXPORT SubscriptionBase::updated() |
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{ |
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bool isUpdated = false; |
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orb_check(_handle, &isUpdated); |
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return isUpdated; |
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} |
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template<class T> |
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Subscription<T>::Subscription( |
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List<SubscriptionBase *> * list, |
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const struct orb_metadata *meta, unsigned interval) : |
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T(), // initialize data structure to zero
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SubscriptionBase(list, meta) { |
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setHandle(orb_subscribe(getMeta())); |
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orb_set_interval(getHandle(), interval); |
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} |
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template<class T> |
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Subscription<T>::~Subscription() {} |
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template<class T> |
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void * Subscription<T>::getDataVoidPtr() { |
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return (void *)(T *)(this); |
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} |
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template<class T> |
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T Subscription<T>::getData() { |
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return T(*this); |
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} |
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template class __EXPORT Subscription<parameter_update_s>; |
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template class __EXPORT Subscription<actuator_controls_s>; |
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template class __EXPORT Subscription<vehicle_gps_position_s>; |
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template class __EXPORT Subscription<sensor_combined_s>; |
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template class __EXPORT Subscription<vehicle_attitude_s>; |
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template class __EXPORT Subscription<vehicle_global_position_s>; |
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template class __EXPORT Subscription<encoders_s>; |
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template class __EXPORT Subscription<position_setpoint_triplet_s>; |
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template class __EXPORT Subscription<vehicle_status_s>; |
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template class __EXPORT Subscription<manual_control_setpoint_s>; |
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template class __EXPORT Subscription<vehicle_local_position_setpoint_s>; |
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template class __EXPORT Subscription<vehicle_local_position_s>; |
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template class __EXPORT Subscription<vehicle_attitude_setpoint_s>; |
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template class __EXPORT Subscription<vehicle_rates_setpoint_s>; |
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} // namespace uORB
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