Add 4 more example protocal files which also support the AuraUAS flight
controller running SIL/HIL.
This commit is contained in:
Curtis L. Olson
parent
49836f9956
commit
0963e033ec
4 changed files with 335 additions and 0 deletions
125
Protocol/aura-act.xml
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125
Protocol/aura-act.xml
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<?xml version="1.0"?>
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<!-- Example usage: <dash><dash>generic=file,out,50,fgfs.truth,insgns-truth -->
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<PropertyList>
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<generic>
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<input>
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<binary_mode>true</binary_mode>
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<binary_footer>none</binary_footer>
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<chunk>
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<name>time (sec)</name>
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<type>double</type>
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<node>/aura-uas/act/timestamp-sec</node>
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</chunk>
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<chunk>
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<name>aileron</name>
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<type>float</type>
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<node>/aura-uas/act/aileron</node>
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</chunk>
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<chunk>
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<name>elevator</name>
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<type>float</type>
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<node>/aura-uas/act/elevator</node>
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</chunk>
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<chunk>
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<name>throttle</name>
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<type>float</type>
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<node>/aura-uas/act/throttle</node>
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</chunk>
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<chunk>
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<name>rudder</name>
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<type>float</type>
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<node>/aura-uas/act/rudder</node>
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</chunk>
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<chunk>
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<name>channel5</name>
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<type>float</type>
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<node>/aura-uas/act/channel5</node>
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</chunk>
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<chunk>
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<name>channel6</name>
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<type>float</type>
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<node>/aura-uas/act/channel6</node>
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</chunk>
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<chunk>
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<name>channel7</name>
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<type>float</type>
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<node>/aura-uas/act/channel7</node>
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</chunk>
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<chunk>
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<name>channel8</name>
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<type>float</type>
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<node>/aura-uas/act/channel8</node>
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</chunk>
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<chunk>
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<name>target-bank</name>
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<type>float</type>
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<node>/controls/reserved/reserved[0]</node>
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</chunk>
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<chunk>
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<name>target-pitch</name>
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<type>float</type>
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<node>/controls/reserved/reserved[1]</node>
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</chunk>
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<chunk>
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<name>wind-hdg-error</name>
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<type>float</type>
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<node>/controls/reserved/reserved[2]</node>
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</chunk>
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<chunk>
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<name>climb-rate</name>
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<type>float</type>
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<node>/controls/reserved/reserved[3]</node>
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</chunk>
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<chunk>
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<name>altitude</name>
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<type>float</type>
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<node>/controls/reserved/reserved[4]</node>
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</chunk>
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<chunk>
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<name>speed</name>
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<type>float</type>
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<node>/controls/reserved/reserved[5]</node>
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</chunk>
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<chunk>
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<name>ground-grack</name>
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<type>float</type>
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<node>/controls/reserved/reserved[6]</node>
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</chunk>
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<chunk>
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<name>dist</name>
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<type>float</type>
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<node>/controls/reserved/reserved[7]</node>
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</chunk>
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<chunk>
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<name>eta</name>
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<type>float</type>
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<node>/controls/reserved/reserved[8]</node>
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</chunk>
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</input>
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</generic>
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</PropertyList>
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62
Protocol/aura-gps.xml
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62
Protocol/aura-gps.xml
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<?xml version="1.0"?>
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<!-- Example usage: <dash><dash>generic=file,out,4,fgfs.gps,insgns-gps -->
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<PropertyList>
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<generic>
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<output>
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<binary_mode>true</binary_mode>
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<binary_footer>none</binary_footer>
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<chunk>
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<name>time (sec)</name>
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<type>double</type>
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<node>/sim/time/elapsed-sec</node>
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</chunk>
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<chunk>
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<name>latitude</name>
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<type>double</type>
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<node>/position/latitude-deg</node>
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</chunk>
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<chunk>
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<name>longitude</name>
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<type>double</type>
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<node>/position/longitude-deg</node>
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</chunk>
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<chunk>
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<name>positive altitiude (m)</name>
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<type>float</type>
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<node>/position/altitude-ft</node>
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<factor>0.3048</factor> <!-- feet to meter -->
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</chunk>
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<chunk>
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<name>Velocity North ("vn" mps)</name>
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<type>float</type>
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<node>/velocities/speed-north-fps</node>
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<factor>0.3048</factor> <!-- fps to mps -->
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</chunk>
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<chunk>
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<name>Velocity East ("ve" mps)</name>
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<type>float</type>
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<node>/velocities/speed-east-fps</node>
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<factor>0.3048</factor> <!-- fps to mps -->
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</chunk>
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<chunk>
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<name>Velocity Down ("vd" mps)</name>
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<type>float</type>
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<node>/velocities/speed-down-fps</node>
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<factor>0.3048</factor> <!-- fps to mps -->
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</chunk>
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</output>
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</generic>
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</PropertyList>
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95
Protocol/aura-imu.xml
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95
Protocol/aura-imu.xml
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<?xml version="1.0"?>
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<!-- Example usage: <dash><dash>generic=file,out,50,fgfs.imu,insgns-imu -->
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<PropertyList>
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<generic>
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<output>
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<binary_mode>true</binary_mode>
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<binary_footer>none</binary_footer>
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<chunk>
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<name>time (sec)</name>
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<type>double</type>
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<node>/sim/time/elapsed-sec</node>
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</chunk>
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<chunk>
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<name>roll rate ("p" rad/sec)</name>
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<type>float</type>
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<node>/orientation/p-body</node>
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</chunk>
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<chunk>
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<name>pitch rate ("q" rad/sec)</name>
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<type>float</type>
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<node>/orientation/q-body</node>
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</chunk>
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<chunk>
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<name>yaw rate ("r" rad/sec)</name>
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<type>float</type>
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<node>/orientation/r-body</node>
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</chunk>
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<chunk>
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<name>X accel (body axis) (mps)</name>
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<type>float</type>
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<node>/accelerations/pilot/x-accel-fps_sec</node>
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<factor>0.3048</factor> <!-- feet to meter -->
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</chunk>
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<chunk>
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<name>Y accel (body axis) (mps)</name>
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<type>float</type>
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<node>/accelerations/pilot/y-accel-fps_sec</node>
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<factor>0.3048</factor> <!-- feet to meter -->
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</chunk>
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<chunk>
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<name>Z accel (body axis) (mps)</name>
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<type>float</type>
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<node>/accelerations/pilot/z-accel-fps_sec</node>
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<factor>0.3048</factor> <!-- feet to meter -->
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</chunk>
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<!-- air data appended to IMU data for convenience -->
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<chunk>
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<name>Indicated airspeed (kt)</name>
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<type>float</type>
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<node>/velocities/airspeed-kt</node>
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</chunk>
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<chunk>
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<name>Local Pressure (inhg)</name>
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<type>float</type>
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<node>/environment/pressure-inhg</node>
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</chunk>
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<!-- attitude "truth" also appended for the purposes of allowing -->
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<!-- the filter to evaluate how well it's doing -->
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<chunk>
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<name>roll truth (deg)</name>
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<type>float</type>
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<node>/orientation/roll-deg</node>
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</chunk>
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<chunk>
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<name>pitch truth (deg)</name>
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<type>float</type>
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<node>/orientation/pitch-deg</node>
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</chunk>
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<chunk>
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<name>heading truth (deg)</name>
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<type>float</type>
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<node>/orientation/heading-deg</node>
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</chunk>
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</output>
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</generic>
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</PropertyList>
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53
Protocol/aura-pilot.xml
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53
Protocol/aura-pilot.xml
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<?xml version="1.0"?>
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<!-- Example usage: <dash><dash>generic=file,out,50,fgfs.truth,insgns-truth -->
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<PropertyList>
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<generic>
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<output>
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<binary_mode>true</binary_mode>
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<binary_footer>none</binary_footer>
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<chunk>
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<name>time (sec)</name>
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<type>double</type>
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<node>/sim/time/elapsed-sec</node>
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</chunk>
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<chunk>
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<name>aileron</name>
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<type>float</type>
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<node>/controls/flight/aileron</node>
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</chunk>
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<chunk>
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<name>elevator</name>
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<type>float</type>
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<node>/controls/flight/elevator</node>
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</chunk>
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<chunk>
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<name>throttle</name>
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<type>float</type>
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<node>/controls/engines/engine[0]/throttle</node>
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</chunk>
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<chunk>
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<name>rudder</name>
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<type>float</type>
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<node>/controls/flight/rudder</node>
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</chunk>
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<chunk>
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<name>auto/manual select</name>
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<type>float</type>
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<node>/aura-uas/settings/ap-enable</node>
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</chunk>
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</output>
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</generic>
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</PropertyList>
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