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some Trojan tuning

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This commit is contained in:
Martin Mueller
2012-04-01 15:25:14 +00:00
parent bdb8d682dd
commit 2bb40c0cec
1 changed files with 9 additions and 9 deletions
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conf/airframes/mm/fixed-wing/trojan.xml
+9 -9
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@@ -56,10 +56,10 @@
<!-- commands section -->
<servos>
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="AILERON_LEFT" no="2" min="1100" neutral="1509" max="1900"/>
<servo name="AILERON_RIGHT" no="6" min="1100" neutral="1509" max="1900"/>
<servo name="ELEVATOR" no="7" min="1900" neutral="1501" max="1100"/>
<servo name="RUDDER" no="3" min="1900" neutral="1435" max="1100"/>
<servo name="AILERON_LEFT" no="2" min="1100" neutral="1545" max="1900"/>
<servo name="AILERON_RIGHT" no="6" min="1100" neutral="1545" max="1900"/>
<servo name="ELEVATOR" no="7" min="1900" neutral="1504" max="1100"/>
<servo name="RUDDER" no="3" min="1900" neutral="1419" max="1100"/>
</servos>
<commands>
@@ -109,9 +109,9 @@
<define name="GYRO_Q_SIGN" value="1"/>
<define name="GYRO_R_SIGN" value="1"/>
<define name="ACCEL_X_NEUTRAL" value="-20"/>
<define name="ACCEL_Y_NEUTRAL" value="-10"/>
<define name="ACCEL_Z_NEUTRAL" value="375"/>
<define name="ACCEL_X_NEUTRAL" value="0"/>
<define name="ACCEL_Y_NEUTRAL" value="0"/>
<define name="ACCEL_Z_NEUTRAL" value="0"/>
<!-- SENS = 2048 LSB/g / 9.81 ms2/g = 208.766564729 LSB/ms2 / 10bit FRAC: 1024 / 208.7665 -->
<define name="ACCEL_X_SENS" value="9.81" integer="16"/>
@@ -145,7 +145,7 @@
</section>
<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="4" unit="deg"/>
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="4" unit="deg"/>
</section>
@@ -190,7 +190,7 @@
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-600"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.023"/> <!-- -0.012 -->
<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>