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Antoine Drouin
2008-09-09 15:37:04 +00:00
parent 2f871a4f61
commit 30126acba4
3 changed files with 11 additions and 20 deletions
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conf/airframes/booz2.xml
+1 -1
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@@ -167,7 +167,7 @@
<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
<define name="HOVER_POWER" value="60"/>
<define name="HOVER_POWER" value="65"/>
<define name="HOVER_KP" value="-200"/>
<define name="HOVER_KD" value="-100"/>
<define name="HOVER_KI" value="-50"/>
conf/autopilot/conf_booz2.makefile
+2
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@@ -137,6 +137,8 @@ ap.CFLAGS += -DGPS_LINK=Uart1 -DGPS_LED=7
ap.srcs += $(BOOZ_PRIV)/booz2_gps.c
ap.srcs += $(BOOZ_PRIV)/booz2_guidance_h.c
ap.srcs += $(BOOZ_PRIV)/booz2_guidance_v.c
#ap.CFLAGS += -DNAV_ENAC
ap.srcs += $(BOOZ_PRIV)/booz2_navigation.c
conf/flight_plans/booz_test_1.xml
+8 -19
View File
@@ -1,31 +1,20 @@
<flight_plan name="booz test 1" lon0="1.27289" lat0="43.46223" ground_alt="185" alt="250" max_dist_from_home="400" security_height="1">
<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
<flight_plan alt="250" ground_alt="0" lat0="48.8613611" lon0="1.8951388" max_dist_from_home="400" name="booz test 1" security_height="1">
<waypoints>
<waypoint name="HOME" x="0.0" y="0.0" alt="187."/>
<waypoint name="p1" x="10" y="0" alt="187."/>
<waypoint name="p2" x="20" y="0" alt="187."/>
<waypoint alt="0.0" name="HOME" x="-18.2" y="-24.6"/>
<waypoint alt="0.0" name="D1" x="-0.6" y="0.0"/>
<waypoint alt="0.0" name="D2" x="-53.7" y="-45.6"/>
<waypoint alt="0.0" name="p1" x="-72.8" y="-70.0"/>
<waypoint alt="0.0" name="p2" x="-132.2" y="-118.5"/>
<waypoint alt="0.0" name="p3" x="-76.0" y="-137.9"/>
</waypoints>
<blocks>
<block name="stay_p1">
<stay wp="p1"/>
</block>
<block name="stay_p2">
<stay wp="p2"/>
</block>
<!--
<block name="Steps roll -5, +5">
<while cond="TRUE">
<attitude alt="187" roll="5.0" until=" stage_time > 2" vmode="alt"/>
<attitude alt="187" roll="-5.0" until="stage_time > 2" vmode="alt"/>
</while>
</block>
-->
</blocks>
</flight_plan>