Configuration¶

Configuration occurs in two places, config.h and settings.xml. The former is where all architecture specific settings should be placed, typically those settings very close to the hardware, etc. The latter, settings.xml is designed to hold settings which are not machine specific, but feature or configuration specific.

Architecture Specific Settings¶

file config.h

Architecture specific configuration for wasp V1.x (LPC2148) hardware.

Defines

USE_USB_SERIAL

USB serial support.

FOSC

Master oscillator freq.

PLL_MUL

PLL multiplier.

CCLK

CPU clock freq.

PBSD_BITS

Peripheral bus speed mask 0x00->4, 0x01-> 1, 0x02 -> 2.

PBSD_VAL

PCLK

Peripheral bus clock freq.

GPIO_1_BANK

Onboard LEDs.

GPIO_1_PIN

GPIO_2_BANK

GPIO_2_PIN

GPIO_3_BANK

GPIO_3_PIN

GPIO_4_BANK

GPIO_4_PIN

ANALOG_BATT_PINSEL

ADC battery: P0.29 AD0.2.

ANALOG_BATT_PINSEL_VAL

ANALOG_BATT_PINSEL_BIT

ANALOG_SPARE_PINSEL

ADC spare: P0.13 AD1.4.

ANALOG_SPARE_PINSEL_VAL

ANALOG_SPARE_PINSEL_BIT

ANALOG_BARO_PINSEL

ADC pressure : P0.10 AD1.2.

ANALOG_BARO_PINSEL_VAL

ANALOG_BARO_PINSEL_BIT

USE_ANALOG_BARO

Use the onboard analog baro.

MM_SS_PIN

Micromag on SSP, IMU connector.

MM_SS_IODIR

MM_SS_IOSET

MM_SS_IOCLR

MM_RESET_PIN

MM_RESET_IODIR

MM_RESET_IOSET

MM_RESET_IOCLR

MM_DRDY_PIN

MM_DRDY_PINSEL

MM_DRDY_PINSEL_BIT

MM_DRDY_PINSEL_VAL

MM_DRDY_EINT

MM_DRDY_VIC_IT

USE_SERVOS_4017

Servos: 4017 servo driver on CAM connector.

SERVOS_4017_NB_CHANNELS

SERVO_CLOCK_IODIR

SERVO_CLOCK_PIN

SERVO_CLOCK_PINSEL

SERVO_CLOCK_PINSEL_VAL

SERVO_CLOCK_PINSEL_BIT

SERVO_RESET_PIN

SERVO_RESET_IODIR

SERVO_RESET_IOSET

SERVO_RESET_IOCLR

USE_SERVOS_DIRECT

Servos: Direct drive via PWM.

PWM_SERVO_0

USE_RADIO_CONTROL

Radio Control.

PPM_PINSEL

PPM : rc rx on P0.28 ( CAP0.2 ).

PPM_PINSEL_VAL

PPM_PINSEL_BIT

USE_UART0

UART0 = uBlox GPS.

UART0_BAUD

USE_UART1

UART1 = XBEE.

UART1_BAUD

USE_I2C0

I2C0 Motor Controllers.

I2C0_SCLL

I2C0_SCLH

USE_I2C1

I2C1 AMI601 (Not used).

I2C1_SCLL

I2C1_SCLH

GPS_LINK

GPS Uart.

TIMER0_VIC_SLOT

UART0_VIC_SLOT

UART1_VIC_SLOT

USB_VIC_SLOT

MAX1168_EOC_VIC_SLOT

SSP_VIC_SLOT

I2C0_VIC_SLOT

MICROMAG_DRDY_VIC_SLOT

dir sw/onboard/arch/

dir sw/onboard/arch/arm7/

dir sw/onboard/

dir sw/

Run-time Adjustable Settings¶

Name	Type
IMU_ALIGNMENT_BODY_TO_IMU_PHI	float
IMU_ALIGNMENT_BODY_TO_IMU_THETA	float
IMU_ALIGNMENT_BODY_TO_IMU_PSI	float
SUPERVISION_TRIM_A	int32
SUPERVISION_TRIM_E	int32
SUPERVISION_TRIM_R	int32
SUPERVISION_TRIM_T	int32
PID_PITCH_P	int32
PID_PITCH_I	int32
PID_PITCH_D	int32
PID_ROLL_P	int32
PID_ROLL_I	int32
PID_ROLL_D	int32
PID_YAW_P	int32
PID_YAW_I	int32
PID_YAW_D	int32
PID_ALT_P	int32
PID_ALT_I	int32
PID_ALT_D	int32

Compile-time Adjustable Settings¶

HARDWARE_ENABLED¶

HARDWARE_ENABLED_GPS

Value: 1

AUTOPILOT¶

AUTOPILOT_MODE_MANUAL

Autopilot mode in manual flight

Value: AP_MODE_RC_DIRECT

AUTOPILOT_MODE_AUTO1

Autopilot mode 1

Value: AP_MODE_HOVER_DIRECT

AUTOPILOT_MODE_AUTO2

Autopilot mode 2

Value: AP_MODE_ATTITUDE_DIRECT

ANALOG¶

ANALOG_BATTERY_SENS

Value: 0.018387097

ANALOG_ADC_SPARE_SENS

Value: 0.0

INS¶

INS_BARO_SENS

Value: 15.0

IMU_ALIGNMENT¶

IMU_ALIGNMENT_BODY_TO_IMU_PHI

Value: 0.75 (float)

Min: -5.0

Max: 5.0

IMU_ALIGNMENT_BODY_TO_IMU_THETA

Value: 1.50 (float)

Min: -5.0

Max: 5.0

IMU_ALIGNMENT_BODY_TO_IMU_PSI

Value: 0.0 (float)

Min: -5.0

Max: 5.0

FMS¶

FMS_CORRECTION_RC_ROLL

Value: 0

FMS_CORRECTION_RC_PITCH

Value: 0

FMS_CORRECTION_RC_HEADING

Value: 0

FMS_CORRECTION_RC_THRUST

Value: 0

FMS_CORRECTION_ATTITUDE_ROLL

Value: 12.0

FMS_CORRECTION_ATTITUDE_PITCH

Value: -14.0

FMS_CORRECTION_ATTITUDE_HEADING

Value: 0.0

FMS_CORRECTION_ATTITUDE_THRUST

Value: 0.0

PERIODIC¶

PERIODIC_TASK_DT

the periodic task time (seconds), the main loop runs at 1/TASK_DT

Value: (1./512.)

LED¶

LED_NB

Value: 5

LED_TIME

Value: 1

LED_RC

Value: 1

LED_GPS

Value: 4

LED_BARO

Value: 2

LED_AHRS

Value: 3

CONTROL¶

CONTROL_USE_VFF

Value: 1

CONTROL_DT_VFILTER

Value: (1./512.)

IMU_SENS¶

IMU_SENS_GYRO_P

Value: 1.01

IMU_SENS_GYRO_Q

Value: -1.01

IMU_SENS_GYRO_R

Value: -1.01

IMU_SENS_ACCEL_X

Value: -2.44665442

IMU_SENS_ACCEL_Y

Value: -2.44994081

IMU_SENS_ACCEL_Z

Value: -2.50555481

IMU_SENS_MAG_X

Value: 22.008352

IMU_SENS_MAG_Y

Value: -21.79885

IMU_SENS_MAG_Z

Value: -14.675745

IMU_NEUTRAL¶

IMU_NEUTRAL_GYRO_P

Value: 33026

IMU_NEUTRAL_GYRO_Q

Value: 32348

IMU_NEUTRAL_GYRO_R

Value: 32524

IMU_NEUTRAL_ACCEL_X

Value: 32311

IMU_NEUTRAL_ACCEL_Y

Value: 32536

IMU_NEUTRAL_ACCEL_Z

Value: 32779

IMU_NEUTRAL_MAG_X

Value: -12

IMU_NEUTRAL_MAG_Y

Value: -10

IMU_NEUTRAL_MAG_Z

Value: -11

MOTOR¶

MOTOR_NB

Value: 4

MOTOR_FRONT

Value: 0

MOTOR_BACK

Value: 1

MOTOR_RIGHT

Value: 2

MOTOR_LEFT

Value: 3

MOTOR_ADDR

The I2C adresses of the motors

Value: {0x52, 0x54, 0x56, 0x58}

SERVO¶

SERVO_NB

Value: 4

SERVO_THROTTLE

Value: 0

SERVO_ELEVATOR

Value: 1

SERVO_AILERON

Value: 2

SERVO_RUDDER

Value: 3

SERVO_ADDR

The channel of the servos, numbered from 0 (the pcb is numbered from 1)

Value: {4, 5, 6, 7}

COMMAND¶

COMMAND_NB

Value: 4

COMMAND_PITCH

Value: 0

COMMAND_ROLL

Value: 1

COMMAND_YAW

Value: 2

COMMAND_THRUST

Value: 3

COMMAND_FAILSAFE

Value: {0,0,0,0}

SUPERVISION¶

SUPERVISION_MIN_MOTOR

Value: 2

SUPERVISION_MAX_MOTOR

Value: 210

SUPERVISION_TRIM_A

Value: 0 (int32)

Min: -100

Max: 100

SUPERVISION_TRIM_E

Value: 0 (int32)

Min: -100

Max: 100

SUPERVISION_TRIM_R

Value: 0 (int32)

Min: -100

Max: 100

SUPERVISION_TRIM_T

Value: 0 (int32)

Min: -100

Max: 100

SUPERVISION_NB_MOTOR

Value: 4

SUPERVISION_SCALE

Value: 256

SUPERVISION_ROLL_COEF

Value: { 0, 0, -256, 256}

SUPERVISION_PITCH_COEF

Value: { 256, -256, 0, 0}

SUPERVISION_YAW_COEF

Value: { -256, -256, 256, 256}

SUPERVISION_THRUST_COEF

Value: { 256, 256, 256, 256}

PID¶

PID_PITCH_P

Value: 1 (int32)

Min: -2147483648

Max: 2147483647

PID_PITCH_I

Value: 0 (int32)

Min: -2147483648

Max: 2147483647

PID_PITCH_D

Value: 0 (int32)

Min: -2147483648

Max: 2147483647

PID_ROLL_P

Value: 1 (int32)

Min: -2147483648

Max: 2147483647

PID_ROLL_I

Value: 0 (int32)

Min: -2147483648

Max: 2147483647

PID_ROLL_D

Value: 0 (int32)

Min: -2147483648

Max: 2147483647

PID_YAW_P

Value: 1 (int32)

Min: -2147483648

Max: 2147483647

PID_YAW_I

Value: 0 (int32)

Min: -2147483648

Max: 2147483647

PID_YAW_D

Value: 0 (int32)

Min: -2147483648

Max: 2147483647

PID_ALT_P

Value: 1 (int32)

Min: -2147483648

Max: 2147483647

PID_ALT_I

Value: 0 (int32)

Min: -2147483648

Max: 2147483647

PID_ALT_D

Value: 0 (int32)

Min: -2147483648

Max: 2147483647

BOOZ_STABILIZATION¶

BOOZ_STABILIZATION_RATE_SP_MAX_P

Value: 10000

BOOZ_STABILIZATION_RATE_SP_MAX_Q

Value: 10000

BOOZ_STABILIZATION_RATE_SP_MAX_R

Value: 10000

BOOZ_STABILIZATION_RATE_GAIN_P

Value: -400

BOOZ_STABILIZATION_RATE_GAIN_Q

Value: -400

BOOZ_STABILIZATION_RATE_GAIN_R

Value: -350

BOOZ_STABILIZATION_ATTITUDE_SP_MAX_PHI

Value: 3000

BOOZ_STABILIZATION_ATTITUDE_SP_MAX_THETA

Value: 3000

BOOZ_STABILIZATION_ATTITUDE_SP_MAX_R

Value: 5500

BOOZ_STABILIZATION_ATTITUDE_DEADBAND_R

Value: 250

BOOZ_STABILIZATION_ATTITUDE_PHI_THETA_PGAIN

Value: -400

BOOZ_STABILIZATION_ATTITUDE_PHI_THETA_DGAIN

Value: -300

BOOZ_STABILIZATION_ATTITUDE_PHI_THETA_DDGAIN

Value: 300

BOOZ_STABILIZATION_ATTITUDE_PHI_THETA_IGAIN

Value: -200

BOOZ_STABILIZATION_ATTITUDE_PSI_PGAIN

Value: -380

BOOZ_STABILIZATION_ATTITUDE_PSI_DGAIN

Value: -320

BOOZ_STABILIZATION_ATTITUDE_PSI_DDGAIN

Value: 300

BOOZ_STABILIZATION_ATTITUDE_PSI_IGAIN

Value: -75

BOOZ2_GUIDANCE¶

BOOZ2_GUIDANCE_V_MIN_ERR_Z

Value: POS_BFP_OF_REAL(-10.)

BOOZ2_GUIDANCE_V_MAX_ERR_Z

Value: POS_BFP_OF_REAL( 10.)

BOOZ2_GUIDANCE_V_MIN_ERR_ZD

Value: SPEED_BFP_OF_REAL(-10.)

BOOZ2_GUIDANCE_V_MAX_ERR_ZD

Value: SPEED_BFP_OF_REAL( 10.)

BOOZ2_GUIDANCE_V_HOVER_KP

Value: -300

BOOZ2_GUIDANCE_V_HOVER_KD

Value: -400

BOOZ2_GUIDANCE_H_PGAIN

Value: -20

BOOZ2_GUIDANCE_H_DGAIN

Value: -0

BOOZ2_GUIDANCE_H_IGAIN

Value: -5

BOMB¶

BOMB_ENABLED

Value: 1

BOMB_RELEASE_VALUE

Value: 0xFF

BOMB_HOLD_VALUE

Value: 0x0

BOMB_PERIODIC_TICKS

the amount of time for the bomb latch to be held

Value: 80

BATTERY¶

BATTERY_CRITICAL_VOLTAGE

decivolts

Value: 100

Configuration¶

Architecture Specific Settings¶

Run-time Adjustable Settings¶

Compile-time Adjustable Settings¶

HARDWARE_ENABLED¶

AUTOPILOT¶

ANALOG¶

INS¶

IMU_ALIGNMENT¶

FMS¶

PERIODIC¶

LED¶

CONTROL¶

IMU_SENS¶

IMU_NEUTRAL¶

MOTOR¶

SERVO¶

COMMAND¶

SUPERVISION¶

PID¶

BOOZ_STABILIZATION¶

BOOZ2_GUIDANCE¶

BOMB¶

BATTERY¶

Table Of Contents

Previous topic

Next topic

Navigation

Configuration¶

Architecture Specific Settings¶

Run-time Adjustable Settings¶

Compile-time Adjustable Settings¶

HARDWARE_ENABLED¶

AUTOPILOT¶

ANALOG¶

INS¶

IMU_ALIGNMENT¶

FMS¶

PERIODIC¶

LED¶

CONTROL¶

IMU_SENS¶

IMU_NEUTRAL¶

MOTOR¶

SERVO¶

COMMAND¶

SUPERVISION¶

PID¶

BOOZ_STABILIZATION¶

BOOZ2_GUIDANCE¶

BOMB¶

BATTERY¶

Table Of Contents

Previous topic

Next topic

Quick search

Navigation