[Paparazzi-devel] Re: Update your airframe files to easier configuration, Subsystems introduced

[Felix Ruess]

Hi again,

please be aware that we simplified the setup a bit more and made
automatic selection of the actuators subsystem (4017 for tiny2 and
twog, 4015 for tiny1, etc.) depending on the hardware board you set.
So don't specify the
   <subsystem name="actuators"         type="4017"/>
anymore.

Also we made it easier to use non-standard control loops by giving
control it's own subsystem, meaning you have to add the line
  <subsystem name="control"/>
to your firmware section. (Optionally specify a type for non standard control)

It will end up looking similar to this:
<firmware name="fixedwing">
   <target name="sim"                      board="pc"/>
   <target name="ap"                        board="tiny_2.11"/>
   <subsystem name="radio_control"   type="ppm"/>
   <subsystem name="telemetry"        type="transparent"/>
   <subsystem name="control"/>
   <subsystem name="attitude"          type="infrared"/>
   <subsystem name="gyro"               type="roll"/>
   <subsystem name="gps"                type="ublox_lea5h"/>
   <subsystem name="navigation"       type="extra"/><!-- this also
includes OSAMNav, etc. navigation routines-->
 </firmware>


The wiki and the example airframes are up to date.
Also see the generated transition "guide" (ok, still a bit rough) and
list of subsystems to choose from:
http://paparazzi.enac.fr/wiki/User/AirborneCodeReorg#Available_Subsystems

Cheers, Felix

On Tue, Aug 24, 2010 at 12:08 AM, Felix Ruess <address@hidden> wrote:
> Hi all,
>
> Because of its growth, paparazzi needs significant reorganization. To
> make this possible without breaking airframe files, the 'subsystem'
> idea introduced in booz is now generalized to all airframes.
>   1. A nicer looking XML structure.
>   2. users are not required to understand Makefiles anymore in order
> to choose what to compile.
>
> Replacing the makefile section of the airframe file with xml:
>   1. Provide a simpler to understand and consistent syntax for end users.
>   2. Enable Paparazzi centre to provide a list of all targets for an airframe.
>   3. Simplify the design of tools that automatically generate airframe files.
>   4. Simplify the process of documenting the airframe file and any
> future additions to it.
>
> The reorganization of directory structures is aimed at simplifying
> development and maintenance. The aim here is to provide :
>   1. A consistent structure for all targets, all architectures and
> all subsystems.
>   2. A structure that informs the naming of files.
>   3. A route to enable the merging of fixed wing and rotor craft code bases.
>
>
> So now the makefile section is not needed anymore in most circumstances.
> For a standard airframe it you will have to add these sections to your
> airframe file:
>
>  <firmware name="fixedwing">
>    <target name="sim"          board="pc"/>
>    <target name="ap"                   board="tiny_2.11"/>
>    <subsystem name="radio_control"    type="ppm"/>
>    <subsystem name="telemetry"         type="transparent"/>
>    <subsystem name="actuators"         type="4017"/>
>    <subsystem name="attitude"          type="infrared"/>
>    <subsystem name="gyro"                type="roll"/>
>    <subsystem name="gps"               type="ublox_lea5h"/>
>    <subsystem name="navigation"/>
>  </firmware>
>
>  <firmware name="setup">
>    <target name="tunnel"                   board="tiny_2.11"/>
>    <target name="setup_actuators"      board="tiny_2.11"/>
>  </firmware>
>
> Set the board attribute according to your hardware, the available boards are:
> "twog_1", "tiny_2.11", "tiny_2.1", "tiny_1.1", "tiny_0.99",
> "booz_1.0", "lisa_l_1.0", "pc"
>
> Also remove the makefile section as well as the adc section.
>
> The adc section to remove often looks something like this:
>  <section name="adc" prefix="ADC_CHANNEL_">
>    <define name="IR1" value="ADC_1"/>
>    <define name="IR2" value="ADC_2"/>
>    <define name="IR_TOP" value="ADC_0"/>
>    <define name="IR_NB_SAMPLES" value="16"/>
>    <define name="GYRO_ROLL" value="ADC_3"/>
>    <define name="GYRO_NB_SAMPLES" value="16"/>
>  </section>
>
> This is now already defined by default and should be correct for most
> users. If you use different ADCs you can use parameters in the
> subsystems to set this, e.g.
> replace
>   <subsystem name="attitude" type="infrared"/>
> with
>   <subsystem name="attitude" type="infrared">
>      <param name="ADC_IR1" value="ADC_2"/>
>      <param name="ADC_IR2" value="ADC_1"/>
>   </subsystem>
> Or analogous for the gyro.
>
>
> The UARTs used and the baud rates for the modem and GPS are now
> defined by default according to your board as well.
> The default baud rates are 57600baud for the modem and 38400baud for the GPS.
> If you use different baud rates set the according parameters, e.g.
>    <subsystem name="telemetry"         type="transparent">
>      <param name="MODEM_BAUD"          value="B9600"/>
>    </subsystem>
>
>    <subsystem name="gps"       type="ublox_lea5h">
>      <param name="GPS_BAUD"            value="B9600"/>
>    </subsystem>
>
>
> If you are using extra defines to enable features you can add them to
> the respective target like this:
>    <target name="ap"                   board="tiny_2.11">
>      <define name="AGR_CLIMB" />
>      <define name="LOITER_TRIM" />
>      <define name="ALT_KALMAN" />
>    </target>
>
> There are a couple of *_example.xml airframes, have a look at them.
>
> Please update your airframes accordingly so we can start to clean up
> some code without breaking the airframes for everyone.
> Comments, questions, etc. are welcome!
>
> Cheers, Felix
>