mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-28 18:07:25 +08:00
[conf] drop support of XVert
never really worked it seems, and the frame is no longer available
This commit is contained in:
Gautier Hattenberger
@@ -1,251 +0,0 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<airframe name="xvert">
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<description>
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* E-flite X-VERT VTOL (https://www.openuas.org/airframes/)
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+ Autopilot: Default STM32F3 based
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+ Actuators: Default servos, 2 PWM servo's, 2 escs through some proprietary atmega uart protocol
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+ GPS: Ublox M8N GNSS over I2C
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+ IMU: MPU6500 on mainboard and external HMC58XX on GNSS module
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+ TELEMETRY: Si10xx Chip based with full fledged multifreq firmware
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+ CURRENT: A standard Volt and Current sensor on the analog ports
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+ RANGER: {none yet}
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+ RC: RC over Datalink
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NOTES:
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+ Hey, calibrate your magneto! Yes, you too ;), unit UKF auto works...
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+ Yeah.. and you Accelometer also... EKF2 will like you :)
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+ Flashing the firmware is done (For now..) via tiny SWD wires solderd on Main PCB, for Hardcore builder only ;)...
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WIP:
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+ Many thing to improve, e.g. RC and the Flashing method
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</description>
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<firmware name="rotorcraft">
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<target name="ap" board="xvert_1.0"/>
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<define name="BAT_CHECKER_DELAY" value="80" />
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<define name="CATASTROPHIC_BATTERY_KILL_DELAY" value="80" />
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<!-- To fix the 32k ram limit issue:-->
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<!--<define name="PPRZ_TRIG_INT_USE_FLOAT"/>-->
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<define name="PPRZ_TRIG_CONST" value="const"/>
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<define name="THD_WORKING_AREA_MAIN" value="802"/>
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<define name="UART_THREAD_STACK_SIZE" value="190"/>
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<define name="I2C_THREAD_STACK_SIZE" value="190"/>
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<configure name="USE_MAGNETOMETER" value="TRUE"/>
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<module name="telemetry" type="transparent" >
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<define name="MODEM_BAUD" value="B57600"/>
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</module>
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<module name="guidance" type="hybrid"/>
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<module name="motor_mixing"/>
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<!--<module name="sys_mon"/>-->
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<!--<module name="gps" type="ubx_ucenter"/>-->
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<module name="send_imu_mag_current"/>
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<module name="air_data"/>
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<module name="imu" type="mpu9250_i2c">
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<configure name="IMU_MPU9250_I2C_DEV" value="i2c1"/>
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<define name="IMU_MPU9250_READ_MAG" value="FALSE"/>
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<define name="IMU_MPU9250_I2C_ADDR" value="MPU9250_ADDR"/>
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<define name="AHRS_ICQ_MAG_ID" value="MAG_HMC58XX_SENDER_ID" /> <!-- Meaning the external hmc-->
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</module>
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<module name="stabilization" type="indi_simple" />
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<module name="ahrs" type="float_cmpl_quat" >
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<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
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</module>
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<module name="ins" type="float_invariant">
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<define name="INS_PROPAGATE_FREQUENCY" value="500"/>
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<define name="INS_FINV_MAG_ID" value="MAG_HMC58XX_SENDER_ID"/>
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</module>
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<module name="actuators" type="xvert">
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<define name="SERVO_HZ" value="400" />
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</module>
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<module name="radio_control" type="datalink"/>
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<module name="gps" type="ubx_i2c">
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<configure name="GPS_UBX_I2C_DEV" value="i2c2"/>
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</module>
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<module name="mag" type="hmc58xx">
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<configure name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>
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<define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE"/>
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<define name="HMC58XX_CHAN_X" value="1"/>
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<define name="HMC58XX_CHAN_Y" value="0"/>
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<define name="HMC58XX_CHAN_Z" value="2"/>
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<define name="HMC58XX_CHAN_X_SIGN" value="-"/>
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<define name="HMC58XX_CHAN_Y_SIGN" value="+"/>
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<define name="HMC58XX_CHAN_Z_SIGN" value="+"/>
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</module>
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</firmware>
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<section name="INS" prefix="INS_">
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<define name="H_X" value="0.5138"/>
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<define name="H_Y" value="0.00019"/>
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<define name="H_Z" value="0.8578"/>
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</section>
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<section name="IMU" prefix="IMU_">
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<!-- replace this with your own calibration -->
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<define name="MAG_X_NEUTRAL" value="30"/>
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<define name="MAG_Y_NEUTRAL" value="127"/>
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<define name="MAG_Z_NEUTRAL" value="140"/>
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<define name="MAG_X_SENS" value="7.11726808648" integer="16"/>
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<define name="MAG_Y_SENS" value="7.09366475279" integer="16"/>
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<define name="MAG_Z_SENS" value="6.84467824688" integer="16"/>
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<define name="ACCEL_X_NEUTRAL" value="-52"/>
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<define name="ACCEL_Y_NEUTRAL" value="-4"/>
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<define name="ACCEL_Z_NEUTRAL" value="-7"/>
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<define name="ACCEL_X_SENS" value="2.45056441681" integer="16"/>
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<define name="ACCEL_Y_SENS" value="2.44991708802" integer="16"/>
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<define name="ACCEL_Z_SENS" value="2.44199722843" integer="16"/>
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<define name="BODY_TO_IMU_PHI" value="90." unit="deg"/>
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<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="90." unit="deg"/>
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</section>
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<commands>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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<axis name="THRUST" failsafe_value="0"/>
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</commands>
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<servos driver="Xvert">
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<servo name="RM" no="0" min="1160" neutral="1200" max="1880"/>
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<servo name="LM" no="1" min="1160" neutral="1200" max="1880"/>
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<servo name="ELEVON_RIGHT" no="2" min="1000" neutral="1500" max="2000"/>
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<servo name="ELEVON_LEFT" no="3" min="1000" neutral="1500" max="2000"/>
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</servos>
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<command_laws>
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<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
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<set servo="RM" value="motor_mixing.commands[0]"/>
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<set servo="LM" value="motor_mixing.commands[1]"/>
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<!-- Mode dependent actuator laws for the elevons. The elevons act different in rc attitude flight mode-->
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<!-- First the correct feedback is stored in variables -->
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<let var="aileron_feedback_left" value="@YAW"/>
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<let var="aileron_feedback_right" value="@YAW"/>
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<let var="elevator_feedback_left" value="-@PITCH"/>
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<let var="elevator_feedback_right" value="+@PITCH"/>
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<!-- if using PID with gain scheduling -->
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<let var="forward_left" value="$aileron_feedback_left + $elevator_feedback_left"/>
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<let var="forward_right" value="$aileron_feedback_right + $elevator_feedback_right"/>
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<!-- This statement tells the autopilot to use the hover feedback if in mode attitude direct and to use the forward feedback in all other cases-->
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<set servo="ELEVON_LEFT" value="$forward_left" />
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<set servo="ELEVON_RIGHT" value="$forward_right" />
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</command_laws>
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<section name="MIXING" prefix="MOTOR_MIXING_">
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<define name="TRIM_ROLL" value="0"/>
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<define name="TRIM_PITCH" value="0"/>
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<define name="TRIM_YAW" value="0"/>
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<define name="NB_MOTOR" value="2"/>
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<define name="SCALE" value="256"/>
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<define name="PITCH_COEF" value="{ 0, 0}"/>
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<define name="ROLL_COEF" value="{ -256, 256 }"/>
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<define name="YAW_COEF" value="{ 0, 0 }"/>
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<define name="THRUST_COEF" value="{ 256, 256 }"/>
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</section>
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<section name="AIR_DATA" prefix="AIR_DATA_">
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<define name="CALC_AIRSPEED" value="FALSE" />
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<define name="CALC_TAS_FACTOR" value="FALSE" />
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<define name="CALC_AMSL_BARO" value="TRUE" />
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</section>
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<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
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<!-- setpoint limits for attitude stabilization rc flight -->
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<define name="SP_MAX_PHI" value="45" unit="deg" />
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<define name="SP_MAX_THETA" value="45" unit="deg" />
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<define name="SP_MAX_R" value="300" unit="deg/s" />
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<define name="DEADBAND_A" value="0" />
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<define name="DEADBAND_E" value="0" />
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<define name="DEADBAND_R" value="50" />
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</section>
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<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
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<!-- control effectiveness -->
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<define name="G1_P" value="0.01292" />
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<define name="G1_Q" value="0.014867" />
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<define name="G1_R" value="0.012055" />
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<define name="G2_R" value="0.0" />
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<!-- For the bebop2 we need to filter the roll rate due to the dampers -->
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<define name="FILTER_ROLL_RATE" value="FALSE" />
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<define name="FILTER_PITCH_RATE" value="FALSE" />
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<define name="FILTER_YAW_RATE" value="FALSE" />
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<!-- reference acceleration for attitude control -->
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<define name="REF_ERR_P" value="100.0" />
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<define name="REF_ERR_Q" value="100.0" />
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<define name="REF_ERR_R" value="100.0" />
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<define name="REF_RATE_P" value="14.0" />
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<define name="REF_RATE_Q" value="14.0" />
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<define name="REF_RATE_R" value="14.0" />
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<!-- second order filter parameters -->
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<define name="FILT_CUTOFF" value="3.2"/>
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<define name="FILT_CUTOFF_R" value="3.2"/>
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<!-- first order actuator dynamics -->
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<define name="ACT_DYN_P" value="0.04" />
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<define name="ACT_DYN_Q" value="0.04" />
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<define name="ACT_DYN_R" value="0.04" />
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<!-- Adaptive Learning Rate -->
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<define name="USE_ADAPTIVE" value="FALSE" />
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<define name="ADAPTIVE_MU" value="0.0001" />
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<!-- max rates (conservative) -->
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<define name="STABILIZATION_INDI_MAX_RATE" value="343.77" unit="deg/s"/>
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<define name="STABILIZATION_INDI_MAX_R" value="200" unit="deg/s"/> <!--Does not seem to be applied-->
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<define name="FULL_AUTHORITY" value="TRUE"/>
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</section>
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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<define name="HOVER_KP" value="350" />
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<define name="HOVER_KD" value="85" />
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<define name="HOVER_KI" value="20" />
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<define name="NOMINAL_HOVER_THROTTLE" value="0.6" />
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<define name="ADAPT_THROTTLE_ENABLED" value="TRUE" />
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<define name="MAX_BANK" value="30" unit="deg" />
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<define name="REF_MAX_SPEED" value="3" unit="m/s" />
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<define name="PGAIN" value="50" />
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<define name="DGAIN" value="100" />
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<define name="IGAIN" value="30" />
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</section>
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<section name="NAVIGATION" prefix="NAV_">
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<define name="CLIMB_VSPEED" value="4.5" />
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<define name="DESCEND_VSPEED" value="-1.0" />
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</section>
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<section name="AUTOPILOT">
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<define name="MODE_STARTUP" value="AP_MODE_ATTITUDE_DIRECT" />
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<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT" />
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<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD" />
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<define name="MODE_AUTO2" value="AP_MODE_RC_DIRECT" />
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<define name="NO_RC_THRUST_LIMIT" value="TRUE" />
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</section>
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<section name="BAT">
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<!-- 2S LiPo with 950mAh -->
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<define name="LOW_BAT_LEVEL" value="7.5" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="7.3" unit="V"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="7.0" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="8.4" unit="V"/>
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</section>
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</airframe>
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@@ -1,231 +0,0 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<airframe name="xvert">
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<description>
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E-flite X-VERT VTOL
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* Autopilot: xvert
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* IMU: MPU6500 + external HMC58XX
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* Actuators: 2 PWM servo's, 2 escs through some proprietary atmega uart protocol
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* GPS: Ublox through I2C
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* RC: Datalink
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</description>
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<firmware name="rotorcraft">
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<target name="ap" board="xvert_1.0"/>
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<define name="BAT_CHECKER_DELAY" value="80" />
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<!-- amount of time it take for the bat to check -->
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<!-- to avoid bat low spike detection when strong pullup withch draws short sudden power-->
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<define name="CATASTROPHIC_BATTERY_KILL_DELAY" value="80" />
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<!-- To fix the 32k ram limit issue:-->
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<!--<define name="PPRZ_TRIG_INT_USE_FLOAT"/>-->
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<define name="PPRZ_TRIG_CONST" value="const"/>
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<define name="THD_WORKING_AREA_MAIN" value="1024"/>
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<define name="UART_THREAD_STACK_SIZE" value="240"/>
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<define name="I2C_THREAD_STACK_SIZE" value="240"/>
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<configure name="USE_MAGNETOMETER" value="FALSE"/>
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<!-- in seconds-->
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<module name="telemetry" type="transparent" >
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<define name="MODEM_BAUD" value="57600"/>
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</module>
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<module name="guidance" type="hybrid"/>
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<module name="motor_mixing"/>
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<module name="sys_mon"/>
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<module name="gps" type="ubx_ucenter"/>
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<module name="send_imu_mag_current"/>
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<module name="air_data"/>
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<module name="imu" type="mpu9250_i2c">
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<configure name="IMU_MPU9250_I2C_DEV" value="i2c1"/>
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<define name="IMU_MPU9250_READ_MAG" value="FALSE"/>
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<define name="IMU_MPU9250_I2C_ADDR" value="MPU9250_ADDR"/>
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<define name="AHRS_ICQ_MAG_ID" value="MAG_HMC58XX_SENDER_ID" /> <!-- Meaning the external hmc-->
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</module>
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<module name="stabilization" type="indi_simple" />
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<module name="ahrs" type="float_cmpl_quat" >
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<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
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</module>
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<module name="ins" type="float_invariant">
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<define name="INS_PROPAGATE_FREQUENCY" value="500"/>
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<define name="INS_FINV_MAG_ID" value="MAG_HMC58XX_SENDER_ID"/>
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</module>
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<module name="actuators" type="xvert">
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<define name="SERVO_HZ" value="400" />
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</module>
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<module name="radio_control" type="datalink"/>
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<module name="gps" type="ubx_i2c">
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<configure name="GPS_UBX_I2C_DEV" value="i2c2"/>
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</module>
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<module name="mag" type="hmc58xx">
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<configure name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>
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<define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE"/>
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<define name="HMC58XX_CHAN_X" value="1"/>
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<define name="HMC58XX_CHAN_Y" value="0"/>
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<define name="HMC58XX_CHAN_Z" value="2"/>
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<define name="HMC58XX_CHAN_X_SIGN" value="-"/>
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<define name="HMC58XX_CHAN_Y_SIGN" value="+"/>
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<define name="HMC58XX_CHAN_Z_SIGN" value="+"/>
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</module>
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</firmware>
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<section name="INS" prefix="INS_">
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<define name="H_X" value="0.5138"/>
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<define name="H_Y" value="0.00019"/>
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<define name="H_Z" value="0.8578"/>
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</section>
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<section name="IMU" prefix="IMU_">
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<!-- replace this with your own calibration -->
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<define name="MAG_X_NEUTRAL" value="30"/>
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<define name="MAG_Y_NEUTRAL" value="127"/>
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||||
<define name="MAG_Z_NEUTRAL" value="140"/>
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<define name="MAG_X_SENS" value="7.11726808648" integer="16"/>
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<define name="MAG_Y_SENS" value="7.09366475279" integer="16"/>
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<define name="MAG_Z_SENS" value="6.84467824688" integer="16"/>
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<define name="ACCEL_X_NEUTRAL" value="-52"/>
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<define name="ACCEL_Y_NEUTRAL" value="-4"/>
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<define name="ACCEL_Z_NEUTRAL" value="-7"/>
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<define name="ACCEL_X_SENS" value="2.45056441681" integer="16"/>
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<define name="ACCEL_Y_SENS" value="2.44991708802" integer="16"/>
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<define name="ACCEL_Z_SENS" value="2.44199722843" integer="16"/>
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<define name="BODY_TO_IMU_PHI" value="90." unit="deg"/>
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||||
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="90." unit="deg"/>
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</section>
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<commands>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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<axis name="THRUST" failsafe_value="0"/>
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</commands>
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<servos driver="Xvert">
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<servo name="RM" no="0" min="1160" neutral="1200" max="1880"/>
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||||
<servo name="LM" no="1" min="1160" neutral="1200" max="1880"/>
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<servo name="ELEVON_RIGHT" no="2" min="1000" neutral="1500" max="2000"/>
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<servo name="ELEVON_LEFT" no="3" min="1000" neutral="1500" max="2000"/>
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||||
</servos>
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||||
|
||||
<command_laws>
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<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
|
||||
<set servo="RM" value="motor_mixing.commands[0]"/>
|
||||
<set servo="LM" value="motor_mixing.commands[1]"/>
|
||||
|
||||
<!-- Mode dependent actuator laws for the elevons. The elevons act different in rc attitude flight mode-->
|
||||
<!-- First the correct feedback is stored in variables -->
|
||||
<let var="aileron_feedback_left" value="@YAW"/>
|
||||
<let var="aileron_feedback_right" value="@YAW"/>
|
||||
|
||||
<let var="elevator_feedback_left" value="-@PITCH"/>
|
||||
<let var="elevator_feedback_right" value="+@PITCH"/>
|
||||
|
||||
<!-- if using PID with gain scheduling -->
|
||||
<let var="forward_left" value="$aileron_feedback_left + $elevator_feedback_left"/>
|
||||
<let var="forward_right" value="$aileron_feedback_right + $elevator_feedback_right"/>
|
||||
|
||||
<!-- This statement tells the autopilot to use the hover feedback if in mode attitude direct and to use the forward feedback in all other cases-->
|
||||
<set servo="ELEVON_LEFT" value="$forward_left" />
|
||||
<set servo="ELEVON_RIGHT" value="$forward_right" />
|
||||
</command_laws>
|
||||
|
||||
<section name="AIR_DATA" prefix="AIR_DATA_">
|
||||
<define name="CALC_AIRSPEED" value="FALSE" />
|
||||
<define name="CALC_TAS_FACTOR" value="FALSE" />
|
||||
<define name="CALC_AMSL_BARO" value="TRUE" />
|
||||
</section>
|
||||
|
||||
<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
|
||||
<!-- setpoint limits for attitude stabilization rc flight -->
|
||||
<define name="SP_MAX_PHI" value="45" unit="deg" />
|
||||
<define name="SP_MAX_THETA" value="45" unit="deg" />
|
||||
<define name="SP_MAX_R" value="300" unit="deg/s" />
|
||||
<define name="DEADBAND_A" value="0" />
|
||||
<define name="DEADBAND_E" value="0" />
|
||||
<define name="DEADBAND_R" value="50" />
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
|
||||
<!-- control effectiveness -->
|
||||
<define name="G1_P" value="0.01292" />
|
||||
<define name="G1_Q" value="0.014867" />
|
||||
<define name="G1_R" value="0.012055" />
|
||||
<define name="G2_R" value="0.0" />
|
||||
<!-- For the bebop2 we need to filter the roll rate due to the dampers -->
|
||||
<define name="FILTER_ROLL_RATE" value="FALSE" />
|
||||
<define name="FILTER_PITCH_RATE" value="FALSE" />
|
||||
<define name="FILTER_YAW_RATE" value="FALSE" />
|
||||
<!-- reference acceleration for attitude control -->
|
||||
<define name="REF_ERR_P" value="100.0" />
|
||||
<define name="REF_ERR_Q" value="100.0" />
|
||||
<define name="REF_ERR_R" value="100.0" />
|
||||
<define name="REF_RATE_P" value="14.0" />
|
||||
<define name="REF_RATE_Q" value="14.0" />
|
||||
<define name="REF_RATE_R" value="14.0" />
|
||||
<!-- second order filter parameters -->
|
||||
<define name="FILT_CUTOFF" value="3.2"/>
|
||||
<define name="FILT_CUTOFF_R" value="3.2"/>
|
||||
<!-- first order actuator dynamics -->
|
||||
<define name="ACT_DYN_P" value="0.04" />
|
||||
<define name="ACT_DYN_Q" value="0.04" />
|
||||
<define name="ACT_DYN_R" value="0.04" />
|
||||
<!-- Adaptive Learning Rate -->
|
||||
<define name="USE_ADAPTIVE" value="FALSE" />
|
||||
<define name="ADAPTIVE_MU" value="0.0001" />
|
||||
<!-- max rates (conservative) -->
|
||||
<define name="STABILIZATION_INDI_MAX_RATE" value="343.77" unit="deg/s"/>
|
||||
<define name="STABILIZATION_INDI_MAX_R" value="200" unit="deg/s"/> <!--Does not seem to be applied-->
|
||||
<define name="FULL_AUTHORITY" value="TRUE"/>
|
||||
</section>
|
||||
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
||||
<define name="HOVER_KP" value="350" />
|
||||
<define name="HOVER_KD" value="85" />
|
||||
<define name="HOVER_KI" value="20" />
|
||||
<define name="NOMINAL_HOVER_THROTTLE" value="0.6" />
|
||||
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE" />
|
||||
</section>
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<!-- Good weather -->
|
||||
<define name="MAX_BANK" value="20" unit="deg" />
|
||||
<define name="REF_MAX_SPEED" value="2" unit="m/s" />
|
||||
<!-- Bad weather -->
|
||||
<!-- define name="MAX_BANK" value="32" unit="deg"/ -->
|
||||
<define name="PGAIN" value="50" />
|
||||
<define name="DGAIN" value="100" />
|
||||
<define name="IGAIN" value="30" />
|
||||
</section>
|
||||
<section name="NAVIGATION" prefix="NAV_">
|
||||
<define name="CLIMB_VSPEED" value="4.5" />
|
||||
<define name="DESCEND_VSPEED" value="-1.0" />
|
||||
</section>
|
||||
<section name="AUTOPILOT">
|
||||
<define name="MODE_STARTUP" value="AP_MODE_ATTITUDE_DIRECT" />
|
||||
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT" />
|
||||
<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD" />
|
||||
<define name="MODE_AUTO2" value="AP_MODE_RC_DIRECT" />
|
||||
<define name="NO_RC_THRUST_LIMIT" value="TRUE" />
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<!-- 2S LiPo with 950mAh -->
|
||||
<define name="LOW_BAT_LEVEL" value="7.5" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="7.3" unit="V"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="7.0" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="8.4" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MIXING" prefix="MOTOR_MIXING_">
|
||||
<define name="TRIM_ROLL" value="0"/>
|
||||
<define name="TRIM_PITCH" value="0"/>
|
||||
<define name="TRIM_YAW" value="0"/>
|
||||
<define name="NB_MOTOR" value="2"/>
|
||||
<define name="SCALE" value="256"/>
|
||||
<define name="PITCH_COEF" value="{ 0, 0}"/>
|
||||
<define name="ROLL_COEF" value="{ -256, 256 }"/>
|
||||
<define name="YAW_COEF" value="{ 0, 0 }"/>
|
||||
<define name="THRUST_COEF" value="{ 256, 256 }"/>
|
||||
</section>
|
||||
</airframe>
|
||||
Reference in New Issue
Block a user