Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-04 13:55:40 +08:00
Code Issues Actions 29 Packages Projects Releases Wiki Activity

[airframe] Lisa-S enable possibility for auto-takeoff

Browse Source
This commit is contained in:
Christophe De Wagter
2013-09-22 12:43:21 +02:00
parent 255bc0b06d
commit 1aab59fef0
1 changed files with 13 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/examples/quadrotor_lisa_s.xml
+13 -11
View File
@@ -63,15 +63,16 @@
<define name="MAG_Z_SENS" value="4.54518768636" integer="16"/> <define name="MAG_Z_SENS" value="4.54518768636" integer="16"/>
<!-- MAGNETO CURRENT CALIBRATION --> <!-- MAGNETO CURRENT CALIBRATION -->
<define name= "MAG_X_CURRENT_COEF" value="0.0103422023767"/> <define name="MAG_X_CURRENT_COEF" value="0.0103422023767"/>
<define name= "MAG_Y_CURRENT_COEF" value="0.0084568317783"/> <define name="MAG_Y_CURRENT_COEF" value="0.0084568317783"/>
<define name= "MAG_Z_CURRENT_COEF" value="-0.01935617335"/> <define name="MAG_Z_CURRENT_COEF" value="-0.01935617335"/>
</section> </section>
<section name="AUTOPILOT"> <section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/> <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/> <define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_DIRECT"/> <define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section> </section>
<section name="BAT"> <section name="BAT">
@@ -117,10 +118,10 @@
<define name="REF_MAX_Q" value="300." unit="deg/s"/> <define name="REF_MAX_Q" value="300." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/> <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_R" value="1000" unit="deg/s"/> <define name="REF_OMEGA_R" value="500" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/> <define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="180." unit="deg/s"/> <define name="REF_MAX_R" value="180." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(2000.)"/> <define name="REF_MAX_RDOT" value="RadOfDeg(1000.)"/>
<!-- feedback --> <!-- feedback -->
<define name="PHI_PGAIN" value="399"/> <define name="PHI_PGAIN" value="399"/>
@@ -155,9 +156,9 @@
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/> <define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/> <define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="MAX_SUM_ERR" value="2000000"/> <define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="400"/> <define name="HOVER_KP" value="276"/>
<define name="HOVER_KD" value="350"/> <define name="HOVER_KD" value="455"/>
<define name="HOVER_KI" value="144"/> <define name="HOVER_KI" value="100"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) --> <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value="163"/> <define name="RC_CLIMB_COEF" value="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% --> <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
@@ -172,9 +173,9 @@
</section> </section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="50"/> <define name="PGAIN" value="39"/>
<define name="DGAIN" value="50"/> <define name="DGAIN" value="50"/>
<define name="IGAIN" value="0"/> <define name="IGAIN" value="39"/>
</section> </section>
<section name="MISC"> <section name="MISC">
@@ -201,6 +202,7 @@
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/> <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
<configure name="LISA_S_BARO" value="BARO_MS5611_SPI"/> <configure name="LISA_S_BARO" value="BARO_MS5611_SPI"/>
<define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
</target> </target>
<target name="nps" board="pc"> <target name="nps" board="pc">