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

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Christophe De Wagter
2013-09-22 12:43:21 +02:00
parent 255bc0b06d
commit 1aab59fef0
1 changed files with 13 additions and 11 deletions
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conf/airframes/examples/quadrotor_lisa_s.xml
+10 -8
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@@ -69,9 +69,10 @@
</section>
<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
<define name="MODE_MANUAL" 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 name="BAT">
@@ -117,10 +118,10 @@
<define name="REF_MAX_Q" value="300." unit="deg/s"/>
<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_MAX_R" value="180." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(2000.)"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1000.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="399"/>
@@ -155,9 +156,9 @@
<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_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="400"/>
<define name="HOVER_KD" value="350"/>
<define name="HOVER_KI" value="144"/>
<define name="HOVER_KP" value="276"/>
<define name="HOVER_KD" value="455"/>
<define name="HOVER_KI" value="100"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
@@ -172,9 +173,9 @@
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="50"/>
<define name="PGAIN" value="39"/>
<define name="DGAIN" value="50"/>
<define name="IGAIN" value="0"/>
<define name="IGAIN" value="39"/>
</section>
<section name="MISC">
@@ -201,6 +202,7 @@
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
<configure name="LISA_S_BARO" value="BARO_MS5611_SPI"/>
<define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
</target>
<target name="nps" board="pc">