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[airframe] updating some ENAC airframes

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Gautier Hattenberger
2013-06-14 18:22:32 +02:00
parent dab1d0ef9e
commit 0195a94b1e
2 changed files with 11 additions and 11 deletions
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conf/airframes/ENAC/quadrotor/blender.xml
+1 -2
View File
@@ -37,7 +37,7 @@
<subsystem name="gps" type="ublox"> <subsystem name="gps" type="ublox">
<configure name="GPS_BAUD" value="B57600"/> <configure name="GPS_BAUD" value="B57600"/>
</subsystem> </subsystem>
<subsystem name="stabilization" type="euler"/> <subsystem name="stabilization" type="int_euler"/>
<subsystem name="ahrs" type="int_cmpl_quat"/> <subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins" type="hff"/> <subsystem name="ins" type="hff"/>
</firmware> </firmware>
@@ -133,7 +133,6 @@
<!-- Magnetic field for Gifhorn (declination 2°) --> <!-- Magnetic field for Gifhorn (declination 2°) -->
<section name="AHRS" prefix="AHRS_"> <section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="PROPAGATE_LOW_PASS_RATES" value="1"/> <define name="PROPAGATE_LOW_PASS_RATES" value="1"/>
<define name="H_X" value="0.3794131"/> <define name="H_X" value="0.3794131"/>
<define name="H_Y" value="0.0141005"/> <define name="H_Y" value="0.0141005"/>
conf/airframes/ENAC/quadrotor/booz2_g1.xml
+10 -9
View File
@@ -47,7 +47,7 @@
<subsystem name="gps" type="ublox"> <subsystem name="gps" type="ublox">
<configure name="GPS_BAUD" value="B57600"/> <configure name="GPS_BAUD" value="B57600"/>
</subsystem> </subsystem>
<subsystem name="stabilization" type="euler"/> <subsystem name="stabilization" type="int_euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/> <subsystem name="ahrs" type="int_cmpl_euler"/>
<subsystem name="ins" type="extended"/> <subsystem name="ins" type="extended"/>
</firmware> </firmware>
@@ -102,13 +102,13 @@
<define name="ACCEL_Y_SENS" value="2.55480391706" integer="16"/> <define name="ACCEL_Y_SENS" value="2.55480391706" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.57076132924" integer="16"/> <define name="ACCEL_Z_SENS" value="2.57076132924" integer="16"/>
<define name="MAG_X_NEUTRAL" value="-12"/> <define name="MAG_X_NEUTRAL" value="19"/>
<define name="MAG_Y_NEUTRAL" value="-10"/> <define name="MAG_Y_NEUTRAL" value="-91"/>
<define name="MAG_Z_NEUTRAL" value="-11"/> <define name="MAG_Z_NEUTRAL" value="-40"/>
<define name="MAG_X_SENS" value="22.008352" integer="16"/> <define name="MAG_X_SENS" value="4.93239693731" integer="16"/>
<define name="MAG_Y_SENS" value="21.79885" integer="16"/> <define name="MAG_Y_SENS" value="4.91905188125" integer="16"/>
<define name="MAG_Z_SENS" value="14.675745" integer="16"/> <define name="MAG_Z_SENS" value="3.3560174578" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="1.3" unit="deg"/> <define name="BODY_TO_IMU_PHI" value="1.3" unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="-2.6" unit="deg"/> <define name="BODY_TO_IMU_THETA" value="-2.6" unit="deg"/>
@@ -206,9 +206,10 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="USE_REF" value="FALSE"/>
<define name="MAX_BANK" value="30" unit="deg"/> <define name="MAX_BANK" value="30" unit="deg"/>
<define name="PGAIN" value="50"/> <define name="PGAIN" value="40"/>
<define name="DGAIN" value="100"/> <define name="DGAIN" value="70"/>
<define name="IGAIN" value="15"/> <define name="IGAIN" value="15"/>
<define name="NGAIN" value="0"/> <define name="NGAIN" value="0"/>
<!-- feedforward --> <!-- feedforward -->