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Louis Dugrain
2005-08-26 22:59:37 +00:00
parent e73d7c5718
commit 22c180d3a8
1 changed files with 86 additions and 0 deletions
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conf/airframes/microjet3.xml
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<airframe name="Microjet three" ctl_board="V1_2_1" gps="SAM_LS">
<section name="adc" prefix="ADC_CHANNEL_">
<define name="IR1" value="1" nb_sample="8"/> <!-- 8 samples correspond to X Hz rafraichissement -->
<define name="IR2" value="0" nb_sample="8"/>
</section>
<servos min="1000" neutral="1500" max="2000">
<servo name="GAZ" no="3" min="1000" neutral="1000" max="2000"/>
<servo name="AILEVON_LEFT" no="0" min="1000" neutral="1568" max="2000"/>
<servo name="AILEVON_RIGHT" no="2" min="1000" neutral="1450" max="2000"/>
</servos>
<command>
<set servo="GAZ" value="2 * @THROTTLE"/>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="AILEVON_LEFT" value="$aileron + $elevator"/>
<set servo="AILEVON_RIGHT" value="$aileron - $elevator"/>
</command>
<section name="MIXER">
<define name="AILEVON_AILERON_RATE" value="0.55"/>
<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
</section>
<section name="INFRARED" prefix="IR_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="-880"/>
<define name="DEFAULT_CONTRAST" value="400"/>
<define name="RAD_OF_IR_CONTRAST" value="0.6"/>
<linear name="RollOfIrs" arity="2" coeff1="-1" coeff2="1"/>
<linear name="PitchOfIrs" arity="2" coeff1="-1" coeff2="-1"/>
<define name="RAD_OF_IR_MAX_VALUE" value="0.0045"/>
<define name="RAD_OF_IR_MIN_VALUE" value="0.00075"/>
</section>
<section name="PID">
<define name="ROLL_PGAIN" value="7000."/>
<define name="PITCH_OF_ROLL" value="0.2"/>
<define name="PITCH_PGAIN" value="10000."/>
<define name="MAX_ROLL" value="0.4"/>
<define name="MAX_PITCH" value="0.25"/>
<define name="MIN_PITCH" value="-0.35"/>
</section>
<section name="ALT" prefix="CLIMB_">
<define name="PGAIN" value="-0.025"/>
<define name="IGAIN" value="0.01"/>
<define name="MAX" value="1."/>
<define name="LEVEL_GAZ" value="0.35"/>
<define name="GAZ_OF_CLIMB" value="0.2" unit="% / m/s"/>
<define name="PITCH_OF_VZ_PGAIN" value="0.00"/>
<define name="PITCH_PGAIN" value="-0.1"/>
<define name="PITCH_IGAIN" value="1.0"/>
</section>
<section name="NAV">
<define name="COURSE_PGAIN" value="-0.3"/>
<define name="ALTITUDE_PGAIN" value="-0.05"/>
<define name="NAV_PITCH" value="0."/>
</section>
<section name="BAT" channel="3">
<define name="VOLTAGE_ADC_A" value="0.016892"/>
<define name="VOLTAGE_ADC_B" value="0.083604"/>
<define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
<define name="LOW_BATTERY" value="90" unit="1e-1V"/>
</section>
<section name="SERVOS" channel="6">
<define name="SERVOS_VOLTAGE_ADC_A" value="0.005661"/>
<define name="SERVOS_VOLTAGE_ADC_B" value="0.014948"/>
<define name="ServosVoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="13."/>
<define name="CARROT" value="5." unit="s"/>
</section>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.6"/>
<define name="MAX_PITCH" value="0.5"/>
</section>
<!--
<section name="SIMU">
<define name="ROLL_RESPONSE_FACTOR" value="10."/>
<define name="YAW_RESPONSE_FACTOR" value="2."/>
<define name="WEIGHT" value="0.45"/>
</section>
-->
<section name="SIMU">
<define name="ROLL_RESPONSE_FACTOR" value="5."/>
<define name="YAW_RESPONSE_FACTOR" value="1."/>
<define name="WEIGHT" value="0.45"/>
</section>
</airframe>