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Merge pull request #1418 from kirkscheper/ladybird_update

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[airframe] update pocketdrone optitrack airframe gains
This commit is contained in:
Christophe De Wagter
2015-11-12 10:53:02 +01:00
parent d2a8390da7 119c395362
commit 0ab60b5cd3
1 changed files with 10 additions and 10 deletions
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conf/airframes/BR/ladybird_kit_bart_bluegiga_optitrack.xml
+10 -10
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@@ -67,12 +67,12 @@
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/> <define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
</section> </section>
<include href="conf/airframes/TUDelft/calibrations/ladybird18.xml" /> <include href="conf/airframes/TUDelft/calibrations/ladybird18.xml"/>
<section name="IMU" prefix="IMU_"> <section name="IMU" prefix="IMU_">
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/> <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/> <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="-13." unit="deg"/> <define name="BODY_TO_IMU_PSI" value="-13." unit="deg"/>
</section> </section>
<section name="AUTOPILOT"> <section name="AUTOPILOT">
@@ -185,19 +185,19 @@
</section> </section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="90"/> <define name="PGAIN" value="290"/>
<define name="DGAIN" value="50"/> <define name="DGAIN" value="134"/>
<define name="IGAIN" value="24"/> <define name="IGAIN" value="0"/>
<define name="REF_MAX_SPEED" value="0.5" /> <define name="REF_MAX_SPEED" value="0.8"/>
</section> </section>
<section name="NAVIGATION" prefix="NAV_"> <section name="NAVIGATION" prefix="NAV_">
<define name="CLIMB_VSPEED" value="1.0" /> <define name="CLIMB_VSPEED" value="1.0"/>
<define name="DESCEND_VSPEED" value="-0.5" /> <define name="DESCEND_VSPEED" value="-0.5"/>
</section> </section>
<section name="MISC"> <section name="MISC">
<define name="ARRIVED_AT_WAYPOINT" value="0.2" /> <define name="ARRIVED_AT_WAYPOINT" value="0.2"/>
</section> </section>
<section name="SIMULATOR" prefix="NPS_"> <section name="SIMULATOR" prefix="NPS_">