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qgroundcontrol
Commit a19cb4f7 authored by pixhawk's avatar pixhawk
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Merge branch 'v10release' of git://github.com/pixhawk/qgroundcontrol into v10release

parents 9cb538d6 a821d121
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files/flightgear/Aircraft/arducopter/Engines/a2830-12.xml 0 → 100755
View file @ a19cb4f7
<?xml version="1.0"?>
<electric_engine name="a2830-12">
<power unit="WATTS"> 187 </power>
</electric_engine>
files/flightgear/Aircraft/arducopter/Engines/prop10x4.5.xml 0 → 100755
View file @ a19cb4f7
<?xml version="1.0"?>
<!-- Generated by Aero-Matic v 1.1
Inputs:
horsepower: 0.250767
pitch: fixed
max engine rpm: 9435
prop diameter (ft): 0.83333333333333
Outputs:
max prop rpm: 22515.60
gear ratio: 0.42
Cp0: 0.002731
Ct0: 0.003823
static thrust (lbs): 0.66
-->
<propeller name="prop">
<!--<ixx> 0.00 </ixx>-->
<ixx> 0.000041666666 </ixx>
<!--assuming solid rod of mass 8 g-->
<diameter unit="IN"> 10.0 </diameter>
<numblades> 2 </numblades>
<gearratio> 1.0 </gearratio>
<p_factor> 0.79 </p_factor>
<table name="C_THRUST" type="internal">
<tableData><!--experimentally measured-->
0.0 0.0054513
1.4 0.0054513
<!--aeromatic generated-->
<!--0.0 0.0042-->
<!--0.1 0.0040-->
<!--0.2 0.0038-->
<!--0.3 0.0035-->
<!--0.4 0.0032-->
<!--0.5 0.0028-->
<!--0.6 0.0023-->
<!--0.7 0.0017-->
<!--0.8 0.0009-->
<!--1.0 -0.0003-->
<!--1.2 -0.0016-->
<!--1.4 -0.0030-->
</tableData>
</table>
<table name="C_POWER" type="internal">
<tableData>
0.0 0.0028
0.1 0.0028
0.2 0.0027
0.3 0.0027
0.4 0.0025
0.5 0.0023
0.6 0.0021
0.7 0.0018
0.8 0.0015
1.0 0.0005
1.2 -0.0008
1.4 -0.0025
1.6 -0.0042
</tableData>
</table>
<!-- thrust effects of helical tip Mach -->
<table name="CT_MACH" type="internal">
<tableData>
0.85 1.0
1.05 0.8
</tableData>
</table>
<!-- power-required effects of helical tip Mach -->
<table name="CP_MACH" type="internal">
<tableData>
0.85 1.0
1.05 1.8
2.00 1.4
</tableData>
</table>
</propeller>
files/flightgear/Aircraft/arducopter/Models/arducopter.ac 0 → 100755
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files/flightgear/Aircraft/arducopter/Models/arducopter.xml 0 → 100755
View file @ a19cb4f7
<?xml version="1.0"?>
<PropertyList>
<!--Airframe-->
<path>arducopter.ac</path>
<offsets>
<z-m>0.0</z-m>
<y-m>0</y-m>
<x-m>0.0</x-m>
<pitch-deg>0</pitch-deg>
<heading-deg>180</heading-deg>
</offsets>
<!--Propeller Right-->
<animation>
<type>noshadow</type>
<object-name>propeller0</object-name>
</animation>
<animation>
<type>spin</type>
<object-name>propeller0</object-name>
<property>/controls/engines/engine[0]/throttle</property>
<factor>12000</factor>
<axis>
<x1-m>0.000</x1-m>
<y1-m>-0.288</y1-m>
<z1-m>0.046</z1-m>
<x2-m>0.000</x2-m>
<y2-m>-0.288</y2-m>
<z2-m>0.012</z2-m>
</axis>
</animation>
<!--Propeller Left-->
<animation>
<type>noshadow</type>
<object-name>propeller1</object-name>
</animation>
<animation>
<type>spin</type>
<object-name>propeller1</object-name>
<property>/controls/engines/engine[1]/throttle</property>
<factor>12000</factor>
<axis>
<x1-m>0.000</x1-m>
<y1-m>0.288</y1-m>
<z1-m>0.046</z1-m>
<x2-m>0.000</x2-m>
<y2-m>0.288</y2-m>
<z2-m>0.012</z2-m>
</axis>
</animation>
<!--Propeller Front-->
<animation>
<type>noshadow</type>
<object-name>propeller2</object-name>
</animation>
<animation>
<type>spin</type>
<object-name>propeller2</object-name>
<property>/controls/engines/engine[2]/throttle</property>
<factor>12000</factor>
<axis>
<x1-m>0.288</x1-m>
<y1-m>0.000</y1-m>
<z1-m>0.046</z1-m>
<x2-m>0.288</x2-m>
<y2-m>0.000</y2-m>
<z2-m>0.012</z2-m>
</axis>
</animation>
<!--Propeller Back-->
<animation>
<type>noshadow</type>
<object-name>propeller3</object-name>
</animation>
<animation>
<type>spin</type>
<object-name>propeller3</object-name>
<property>/controls/engines/engine[3]/throttle</property>
<factor>12000</factor>
<axis>
<x1-m>-0.288</x1-m>
<y1-m>0.000</y1-m>
<z1-m>0.046</z1-m>
<x2-m>-0.288</x2-m>
<y2-m>0.000</y2-m>
<z2-m>0.012</z2-m>
</axis>
</animation>
</PropertyList>
files/flightgear/Aircraft/arducopter/Models/quad.skp 0 → 100755
View file @ a19cb4f7
B໿SketchUp Model૿{8.0.4811}ꎻ᷻迕伝﮵쟴獯ÿ벲丨￿ 噃牥楳湯慍ｰ￾䌉䄀爀挀䌀甀爀瘀攀Ā＀￾䌊䄀琀琀爀椀戀甀琀攀＀￾䌓䄀琀琀爀椀戀甀琀攀䌀漀渀琀愀椀渀攀爀＀￾䌏䄀琀琀爀椀戀甀琀攀一愀洀攀搀Ā＀￾䌐䈀愀挀欀最爀漀甀渀搀䤀洀愀最攀਀＀￾䌇䌀愀洀攀爀愀Ԁ＀￾䌊䌀漀洀瀀漀渀攀渀琀଀＀￾䌒䌀漀洀瀀漀渀攀渀琀䈀攀栀愀瘀椀漀爀Ԁ＀￾䌔䌀漀洀瀀漀渀攀渀琀䐀攀昀椀渀椀琀椀漀渀਀＀￾䌒䌀漀洀瀀漀渀攀渀琀䤀渀猀琀愀渀挀攀Ѐ＀￾䌕䌀漀渀猀琀爀甀挀琀椀漀渀䜀攀漀洀攀琀爀礀＀￾䌑䌀漀渀猀琀爀甀挀琀椀漀渀䰀椀渀攀Ā＀￾䌒䌀漀渀猀琀爀甀挀琀椀漀渀倀漀椀渀琀＀￾䌆䌀甀爀瘀攀Ѐ＀￾䌏䐀攀昀椀渀椀琀椀漀渀䰀椀猀琀＀￾䌄䐀椀戀̀＀￾䌊䐀椀洀攀渀猀椀漀渀Ā＀￾䌐䐀椀洀攀渀猀椀漀渀䰀椀渀攀愀爀؀＀￾䌐䐀椀洀攀渀猀椀漀渀刀愀搀椀愀氀Ȁ＀￾䌏䐀椀洀攀渀猀椀漀渀匀琀礀氀攀Ѐ＀￾䌏䐀爀愀眀椀渀最䔀氀攀洀攀渀琀ऀ＀￾䌅䔀搀最攀Ȁ＀￾䌈䔀搀最攀唀猀攀Ā＀￾䌇䔀渀琀椀琀礀̀＀￾䌅䘀愀挀攀̀＀￾䌒䘀愀挀攀吀攀砀琀甀爀攀䌀漀漀爀搀猀Ѐ＀￾䌌䘀漀渀琀䴀愀渀愀最攀爀＀￾䌆䜀爀漀甀瀀Ā＀￾䌆䤀洀愀最攀Ā＀￾䌆䰀愀礀攀爀Ȁ＀￾䌍䰀愀礀攀爀䴀愀渀愀最攀爀Ѐ＀￾䌅䰀漀漀瀀Ā＀￾䌉䴀愀琀攀爀椀愀氀ఀ＀￾䌐䴀愀琀攀爀椀愀氀䴀愀渀愀最攀爀Ѐ＀￾䌉倀愀最攀䰀椀猀琀Ā＀￾䌋倀漀氀礀氀椀渀攀㌀搀＀￾䌍刀攀氀愀琀椀漀渀猀栀椀瀀＀￾䌐刀攀氀愀琀椀漀渀猀栀椀瀀䴀愀瀀＀￾䌑刀攀渀搀攀爀椀渀最伀瀀琀椀漀渀猀␀＀￾䌍匀攀挀琀椀漀渀倀氀愀渀攀Ȁ＀￾䌋匀栀愀搀漀眀䤀渀昀漀܀＀￾䌇匀欀䘀漀渀琀Ā＀￾䌉匀欀攀琀挀栀䌀匀＀￾䌎匀欀攀琀挀栀唀瀀䴀漀搀攀氀ᘀ＀￾䌍匀欀攀琀挀栀唀瀀倀愀最攀Ā＀￾䌉匀欀瀀匀琀礀氀攀Ā＀￾䌐匀欀瀀匀琀礀氀攀䴀愀渀愀最攀爀Ȁ＀￾䌅吀攀砀琀ऀ＀￾䌊吀攀砀琀匀琀礀氀攀Ԁ＀￾䌈吀攀砀琀甀爀攀؀＀￾䌊吀栀甀洀戀渀愀椀氀Ā＀￾䌇嘀攀爀琀攀砀＀￾䌉嘀椀攀眀倀愀最攀ఀ＀￾䌊圀愀琀攀爀洀愀爀欀Ā＀￾䌑圀愀琀攀爀洀愀爀欀䴀愀渀愀最攀爀Ȁ＀￾䔒渀搀ⴀ伀昀ⴀ嘀攀爀猀椀漀渀ⴀ䴀愀瀀Ā뀀Ā＀ϿЀ䌀楄Ѣ頀褀乐േᨊ
files/flightgear/Aircraft/arducopter/arducopter-set.xml 0 → 100755
View file @ a19cb4f7
<?xml version="1.0"?>
<!--
************************************************************************
Arducotper UAV Model
************************************************************************
-->
<PropertyList>
<sim>
<description>Arducopter UAV (R/C)</description>
<author>James Goppert</author>
<aircraft-version>0.0</aircraft-version>
<status>experimental</status>
<flight-model>jsb</flight-model>
<aero>arducopter</aero>
<model-hz>50</model-hz>
<sound>
<path>Aircraft/Generic/generic-sound.xml</path>
</sound>
<panel>
<visibility archive="n">false</visibility>
</panel>
<model>
<path archive="y">Aircraft/arducopter/Models/arducopter.xml</path>
</model>
<view>
<internal archive="y">true</internal>
<config>
<x-offset-m archive="y">0.0</x-offset-m>
<y-offset-m archive="y">0.15</y-offset-m>
<z-offset-m archive="y">0.90</z-offset-m>
<pitch-offset-deg>0</pitch-offset-deg>
</config>
</view>
<chase-distance-m archive="y" type="double">-5.5</chase-distance-m>
<help>
<title>arducopter UAV</title>
<line>Cruise speed: ? mph</line>
<line>Never-exceed (Vne): ? mph</line>
<line>Best Glide (Vglide): ? mph</line>
<line>Maneuvering (Va): ? mph</line>
<line>Approach speed: ? mph</line>
<line>Stall speed (Vs): ? mph</line>
</help>
<startup>
<splash-title>Arducopter UAV DIY Drones/ OPENMAV</splash-title>
<splash-texture>Aircraft/arducopter/arducopter.jpg</splash-texture>
</startup>
</sim>
<controls>
<flight>
<aileron-trim>0.00</aileron-trim>
<!-- fixed -->
<elevator-trim>0.00</elevator-trim>
<!-- controllable -->
</flight>
</controls>
<consumables>
<fuel>
<tank n="0">
<level-gal_us>0</level-gal_us>
</tank>
</fuel>
</consumables>
<payload>
<weight>
<name type="string">Payload</name>
<weight-lb alias="/fdm/jsbsim/inertia/pointmass-weight-lbs[0]"/>
<min-lb type="double">0.0</min-lb>
<max-lb type="double">1.0</max-lb>
</weight>
</payload>
<nasal>
<arducopter>
<script>
setlistener("/sim/signals/fdm-initialized", func {
var left = screen.display.new(20, 10);
left.add("/controls/engines/engine[0]/throttle");
left.add("/controls/engines/engine[1]/throttle");
left.add("/controls/engines/engine[2]/throttle");
left.add("/controls/engines/engine[3]/throttle");
var right = screen.display.new(-250, 20);
right.add("/position/altitude-agl-ft");
right.add("/orientation/roll-deg");
right.add("/orientation/pitch-deg");
right.add("/orientation/heading-deg");
right.add("/instrumentation/gps/indicated-ground-speed-kt");
});
</script>
</arducopter>
</nasal>
</PropertyList>
<!-- vim:sw=4:ts=4:expandtab -->
files/flightgear/Aircraft/arducopter/arducopter.xml 0 → 100755
View file @ a19cb4f7
<?xml version="1.0"?>
<?xml-stylesheet type="text/xsl" href="http://jsbsim.sourceforge.net/JSBSim.xsl"?>
<fdm_config xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" name="dflyer" version="2.0" release="ALPHA" xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
<fileheader>
<author> James Goppert </author>
<filecreationdate> 2010-03-11 </filecreationdate>
<version>0.0 </version>
<description> Arducopter DIY Drones UAV. </description>
</fileheader>
<metrics>
<wingarea unit="M2"> 0.017</wingarea>
<wingspan unit="M"> 0.13 </wingspan>
<chord unit="FT"> 0.0 </chord>
<htailarea unit="FT2"> 0.0 </htailarea>
<htailarm unit="FT"> 0.0 </htailarm>
<vtailarea unit="FT2"> 0.0 </vtailarea>
<vtailarm unit="FT"> 0.0 </vtailarm>
<location name="AERORP" unit="IN">
<x> 0.00 </x>
<y> 0.00 </y>
<z> 0.00 </z>
</location>
<location name="EYEPOINT" unit="IN">
<x> 0.0 </x>
<y> 0.0 </y>
<z> 0.0 </z>
</location>
<location name="VRP" unit="IN">
<x>0</x>
<y>0</y>
<z>0</z>
</location>
</metrics>
<mass_balance>
<!--roughtly approximating this as a solid sphere with correct mass-->
<ixx unit="KG*M2"> 0.036 </ixx>
<iyy unit="KG*M2"> 0.036 </iyy>
<izz unit="KG*M2"> 0.036 </izz>
<emptywt unit="KG"> 1.0 </emptywt>
<location name="CG" unit="IN">
<x> 0.0 </x>
<y> 0.0 </y>
<z> 0.0 </z>
</location>
<pointmass name="Payload">
<weight unit="KG"> 0.0 </weight>
<location unit="IN">
<x> 0.0 </x>
<y> 0.0 </y>
<z> 0.0 </z>
</location>
</pointmass>
</mass_balance>
<ground_reactions>
<contact type="BOGEY" name="frontbase">
<location unit="M">
<x> -0.283 </x>
<y> 0.00 </y>
<z> -0.033</z>
</location>
<static_friction> 0.80 </static_friction>
<dynamic_friction> 0.50 </dynamic_friction>
<spring_coeff unit="N/M"> 800 </spring_coeff>
<damping_coeff unit="N/M2/SEC2" type="SQUARE"> 7 </damping_coeff>
<damping_coeff_rebound unit="N/M2/SEC2" type="SQUARE"> 300 </damping_coeff_rebound>
</contact>
<contact type="BOGEY" name="rearbase">
<location unit="M">
<x> 0.283 </x>
<y> 0.00 </y>
<z> -0.033</z>
</location>
<static_friction> 0.80 </static_friction>
<dynamic_friction> 0.50 </dynamic_friction>
<spring_coeff unit="N/M"> 800 </spring_coeff>
<damping_coeff unit="N/M2/SEC2" type="SQUARE"> 7 </damping_coeff>
<damping_coeff_rebound unit="N/M2/SEC2" type="SQUARE"> 300 </damping_coeff_rebound>
</contact>
<contact type="BOGEY" name="leftbase">
<location unit="M">
<x> 0.00 </x>
<y> 0.283 </y>
<z> -0.033</z>
</location>
<static_friction> 0.80 </static_friction>
<dynamic_friction> 0.50 </dynamic_friction>
<spring_coeff unit="N/M"> 800 </spring_coeff>
<damping_coeff unit="N/M2/SEC2" type="SQUARE"> 7 </damping_coeff>
<damping_coeff_rebound unit="N/M2/SEC2" type="SQUARE"> 300 </damping_coeff_rebound>
</contact>
<contact type="BOGEY" name="rightbase">
<location unit="M">
<x> 0.00 </x>
<y> -0.283 </y>
<z> -0.033</z>
</location>
<static_friction> 0.80 </static_friction>
<dynamic_friction> 0.50 </dynamic_friction>
<spring_coeff unit="N/M"> 800 </spring_coeff>
<damping_coeff unit="N/M2/SEC2" type="SQUARE"> 7 </damping_coeff>
<damping_coeff_rebound unit="N/M2/SEC2" type="SQUARE"> 300 </damping_coeff_rebound>
</contact>
</ground_reactions>
<!-- the front and rear motors spin clockwise, and the left and right motors spin counter-clockwise. -->
<propulsion>
<engine file="a2830-12" name="front">
<location unit="M">
<x> -0.283 </x>
<y> 0.00 </y>
<z> 0.00 </z>
</location>
<orient unit="DEG">
<pitch> 90.00 </pitch>
<roll> 0.00 </roll>
<yaw> 0.00 </yaw>
</orient>
<feed>0</feed>
<thruster file="prop10x4.5">
<location unit="M">
<x> -0.283 </x>
<y> 0.00 </y>
<z> 0.125 </z>
</location>
<orient unit="DEG">
<pitch> 90.00 </pitch>
<roll> 0.00 </roll>
<yaw> 0.00 </yaw>
</orient>
<sense> 1 </sense>
<p_factor> 10 </p_factor>
</thruster>
</engine>
<engine file="a2830-12" name="rear">
<location unit="M">
<x> 0.283 </x>
<y> 0.000 </y>
<z> 0.000 </z>
</location>
<orient unit="DEG">
<pitch> 90.00 </pitch>
<roll> 0.00 </roll>
<yaw> 0.00 </yaw>
</orient>
<feed>0</feed>
<thruster file="prop10x4.5">
<location unit="M">
<x> 0.283 </x>
<y> 0.000 </y>
<z> 0.125 </z>
</location>
<orient unit="DEG">
<pitch> 90.00 </pitch>
<roll> 0.00 </roll>
<yaw> 0.00 </yaw>
</orient>
<sense> 1 </sense>
<p_factor> 10 </p_factor>
</thruster>
</engine>
<engine file="a2830-12" name="left">
<location unit="M">
<x> 0.00 </x>
<y> 0.283 </y>
<z> 0.00 </z>
</location>
<orient unit="DEG">
<pitch> 90.00 </pitch>
<roll> 0.00 </roll>
<yaw> 0.00 </yaw>
</orient>
<feed>0</feed>
<thruster file="prop10x4.5">
<location unit="M">
<x> 0.00 </x>
<y> 0.283 </y>
<z> 0.125 </z>
</location>
<orient unit="DEG">
<pitch> 90.00 </pitch>
<roll> 0.00 </roll>
<yaw> 0.00 </yaw>
</orient>
<sense> -1 </sense>
<p_factor> 10 </p_factor>
</thruster>
</engine>
<engine file="a2830-12" name="right">
<location unit="M">
<x> 0.000 </x>
<y> -0.283 </y>
<z> 0.000 </z>
</location>
<orient unit="DEG">
<pitch> 90.00 </pitch>
<roll> 0.00 </roll>
<yaw> 0.00 </yaw>
</orient>
<feed>0</feed>
<thruster file="prop10x4.5">
<location unit="M">
<x> 0.000 </x>
<y> -0.283 </y>
<z> 0.125 </z>
</location>
<orient unit="DEG">
<pitch> 90.00 </pitch>
<roll> 0.00 </roll>
<yaw> 0.00 </yaw>
</orient>
<sense> -1 </sense>
<p_factor> 10 </p_factor>
</thruster>
</engine>
<tank type="FUEL" number="0">
<location unit="M">
<x> 0.00 </x>
<y> 0.00 </y>
<z> -0.07 </z>
</location>
<!--have to have a fuel capacity, so setting it small-->
<capacity unit="KG"> 0.00000000001 </capacity>
<contents unit="KG"> 0.0 </contents>
</tank>
</propulsion>
<aerodynamics>
<axis name="LIFT">
</axis>
<axis name="DRAG">
<function name="aero/coefficient/CD0">
<description>Overall Drag</description>
<product>
<property>aero/qbar-psf</property>
<property>metrics/Sw-sqft</property>
<value>1</value>
</product>
</function>
</axis>
<axis name="SIDE">
</axis>
<axis name="ROLL">
</axis>
<axis name="PITCH">
</axis>
<axis name="YAW">
</axis>
</aerodynamics>
</fdm_config>
<!-- vim:ts=2:sw=2:expandtab -->
files/flightgear/Aircraft/arducopter/data/arducopter_step.txt 0 → 100755
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files/flightgear/Aircraft/arducopter/formatXml.sh 0 → 100755
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#!/bin/bash
find . -name "*.xml" -exec xmllint -format {} -o {} \;
files/flightgear/Aircraft/arducopter/initfile.xml 0 → 100755
View file @ a19cb4f7
<?xml version="1.0"?>
<initialize name="reset00">
<ubody unit="M/SEC"> nan </ubody>
<vbody unit="M/SEC"> nan </vbody>
<wbody unit="M/SEC"> nan </wbody>
<phi unit="DEG"> nan </phi>
<theta unit="DEG"> -nan </theta>
<psi unit="DEG"> nan </psi>
<longitude unit="DEG"> nan </longitude>
<latitude unit="DEG"> nan </latitude>
<altitude unit="M"> nan </altitude>
</initialize>
files/flightgear/Protocol/qgroundcontrol-quadrotor.xml 0 → 100644
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files/flightgear/Protocol/quadhil.xml 0 → 100755
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files/flightgear/connector_flightgear_uav.xml deleted 100644 → 0
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src/comm/MAVLinkSimulationMAV.cc
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src/comm/MAVLinkSimulationMAV.h
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src/comm/QGCFlightGearLink.cc
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src/comm/QGCFlightGearLink.h
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src/configuration.h
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src/uas/UAS.cc
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src/uas/UAS.h
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thirdParty/mavlink/include/common/common.h
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thirdParty/mavlink/include/common/version.h
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