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update G1

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This commit is contained in:
Gautier Hattenberger
2009-10-19 12:58:38 +00:00
parent 45ec1b1ebd
commit 09a2f1e30d
1 changed files with 7 additions and 7 deletions
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conf/airframes/ENAC/quadrotor/booz2_g1.xml
+7 -7
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@@ -97,21 +97,21 @@
<define name="REF_OMEGA_R" value="RadOfDeg(500)"/> <define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
<define name="REF_ZETA_R" value="0.85"/> <define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="RadOfDeg(180.)"/> <define name="REF_MAX_R" value="RadOfDeg(90.)"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/> <define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback --> <!-- feedback -->
<define name="PHI_PGAIN" value="-2000"/> <define name="PHI_PGAIN" value="-2000"/>
<define name="PHI_DGAIN" value="-400"/> <define name="PHI_DGAIN" value="-400"/>
<define name="PHI_IGAIN" value="-50"/> <define name="PHI_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="-2000"/> <define name="THETA_PGAIN" value="-2000"/>
<define name="THETA_DGAIN" value="-400"/> <define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-50"/> <define name="THETA_IGAIN" value="-200"/>
<define name="PSI_PGAIN" value="-1000"/> <define name="PSI_PGAIN" value="-1000"/>
<define name="PSI_DGAIN" value="-350"/> <define name="PSI_DGAIN" value="-350"/>
<define name="PSI_IGAIN" value="-50"/> <define name="PSI_IGAIN" value="-10"/>
<!-- feedforward --> <!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/> <define name="PHI_DDGAIN" value=" 300"/>
@@ -182,7 +182,7 @@
</section> </section>
<section name="MISC"> <section name="MISC">
<define name="BOOZ_ANALOG_BARO_THRESHOLD" value="512"/> <define name="BOOZ_ANALOG_BARO_THRESHOLD" value="800"/>
<define name="BOOZ2_FACE_REINJ_1" value="1024"/> <define name="BOOZ2_FACE_REINJ_1" value="1024"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="10."/> <define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
</section> </section>
@@ -209,7 +209,7 @@ ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\" sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\"
include $(CFG_BOOZ)/booz2_simulator_nps.makefile include $(CFG_BOOZ)/booz2_simulator_nps.makefile
ap.CFLAGS += -DMODEM_BAUD=B9600 ap.CFLAGS += -DMODEM_BAUD=B57600
include $(CFG_BOOZ)/subsystems/booz2_actuators_asctec.makefile include $(CFG_BOOZ)/subsystems/booz2_actuators_asctec.makefile
include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile