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[conf] add simple x-mode quad jsbsim models

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Felix Ruess
2013-12-20 15:01:51 +01:00
parent d2f8013528
commit 08e17ee731
6 changed files with 1202 additions and 31 deletions
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conf/airframes/ardrone2_raw.xml
+12 -11
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@@ -43,8 +43,8 @@
<servos driver="Default">
<servo name="TOP_LEFT" no="0" min="0" neutral="1" max="500"/>
<servo name="TOP_RIGHT" no="1" min="0" neutral="1" max="500"/>
<servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500"/>
<servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500"/>
<servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500"/>
</servos>
<section name="MIXING" prefix="MOTOR_MIXING_">
@@ -54,19 +54,19 @@
<define name="NB_MOTOR" value="4"/>
<define name="SCALE" value="255"/>
<!-- Time cross layout (X), as documented in paparazzi -->
<define name="ROLL_COEF" value="{ 256, -256, -256, 256 }"/>
<define name="PITCH_COEF" value="{ 256, 256, -256, -256 }"/>
<define name="YAW_COEF" value="{ -256, 256, -256, 256 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
<!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
<define name="ROLL_COEF" value="{ 256, -256, -256, 256 }"/>
<define name="PITCH_COEF" value="{ 256, 256, -256, -256 }"/>
<define name="YAW_COEF" value="{ -256, 256, -256, 256 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<set servo="TOP_LEFT" value="motor_mixing.commands[SERVO_TOP_LEFT]"/>
<set servo="TOP_RIGHT" value="motor_mixing.commands[SERVO_TOP_RIGHT]"/>
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[SERVO_BOTTOM_LEFT]"/>
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[SERVO_BOTTOM_RIGHT]"/>
<set servo="TOP_LEFT" value="motor_mixing.commands[0]"/>
<set servo="TOP_RIGHT" value="motor_mixing.commands[1]"/>
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[2]"/>
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[3]"/>
</command_laws>
<section name="IMU" prefix="IMU_">
@@ -202,7 +202,8 @@
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;top_left_motor&quot;, &quot;top_right_motor&quot;, &quot;bottom_right_motor&quot;, &quot;bottom_left_motor&quot;}"/>
<define name="ACTUATOR_NAMES" value="{&quot;nw_motor&quot;, &quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;}"/>
<define name="JSBSIM_MODEL" value="&quot;simple_ardrone2&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
</section>