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Merge pull request #55 from akochevar/master
Testing Git with my airframe
This commit is contained in:
Felix Ruess
@@ -0,0 +1,311 @@
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<!-- this is an asctec frame equiped with Lisa/L#3 and asctec V2 controllers -->
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<airframe name="booz2_a7">
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<servos min="0" neutral="0" max="0xff">
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<servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
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<servo name="BACK" no="1" min="0" neutral="0" max="255"/>
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<servo name="LEFT" no="2" min="0" neutral="0" max="255"/>
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<servo name="RIGHT" no="3" min="0" neutral="0" max="255"/>
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</servos>
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<commands>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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<axis name="THRUST" failsafe_value="0"/>
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</commands>
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<!-- for the sim -->
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<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
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<define name="NB" value="4"/>
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<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
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</section>
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<section name="SUPERVISION" prefix="SUPERVISION_">
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<define name="MIN_MOTOR" value="3"/>
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<define name="MAX_MOTOR" value="200"/>
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<define name="TRIM_A" value="0"/>
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<define name="TRIM_E" value="0"/>
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<define name="TRIM_R" value="0"/>
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<define name="NB_MOTOR" value="4"/>
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<define name="SCALE" value="256"/>
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<define name="ROLL_COEF" value="{ 0 , 0, 256, -256 }"/>
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<define name="PITCH_COEF" value="{ 256, -256, 0, 0 }"/>
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<define name="YAW_COEF" value="{ -256, -256, 256, 256 }"/>
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<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
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</section>
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<section name="IMU" prefix="IMU_">
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<define name="GYRO_P_SIGN" value="-1"/>
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<define name="GYRO_Q_SIGN" value="1"/>
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<define name="GYRO_R_SIGN" value="-1"/>
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<define name="GYRO_P_NEUTRAL" value="31840"/>
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<define name="GYRO_Q_NEUTRAL" value="32485"/>
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<define name="GYRO_R_NEUTRAL" value="32500"/>
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<define name="GYRO_P_SENS" value=" 0.943560" integer="16"/>
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<define name="GYRO_Q_SENS" value=" 0.926199" integer="16"/>
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<define name="GYRO_R_SENS" value=" 0.931912" integer="16"/>
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<define name="ACCEL_X_SIGN" value="1"/>
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<define name="ACCEL_Y_SIGN" value="1"/>
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<define name="ACCEL_Z_SIGN" value="-1"/>
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<define name="ACCEL_X_NEUTRAL" value="38775"/>
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<define name="ACCEL_Y_NEUTRAL" value="39397"/>
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<define name="ACCEL_Z_NEUTRAL" value="40319"/>
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<define name="ACCEL_X_SENS" value="6.13654473092" integer="16"/>
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<define name="ACCEL_Y_SENS" value="6.40131666838" integer="16"/>
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<define name="ACCEL_Z_SENS" value="6.52135280494" integer="16"/>
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<define name="MAG_X_SIGN" value="-43"/>
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<define name="MAG_Y_SIGN" value=" 49"/>
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<define name="MAG_Z_SIGN" value="-66"/>
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<define name="MAG_X_NEUTRAL" value="-43"/>
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<define name="MAG_Y_NEUTRAL" value=" 49"/>
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<define name="MAG_Z_NEUTRAL" value="-66"/>
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<define name="MAG_X_SENS" value=" 5.32718104135" integer="16"/>
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<define name="MAG_Y_SENS" value="-4.87857821202" integer="16"/>
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<define name="MAG_Z_SENS" value="-3.11986612709" integer="16"/>
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<define name="MAG_X_CHAN" value="4"/>
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<define name="MAG_Y_CHAN" value="0"/>
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<define name="MAG_Z_CHAN" value="2"/>
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<define name="BODY_TO_IMU_PHI" value="RadOfDeg( 4.5)"/>
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<define name="BODY_TO_IMU_THETA" value="RadOfDeg( 6.8)"/>
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<define name="BODY_TO_IMU_PSI" value="RadOfDeg( -45.)"/>
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<define name="GYRO_P_CHAN" value="0"/>
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<define name="GYRO_Q_CHAN" value="4"/>
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<define name="GYRO_R_CHAN" value="1"/>
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<define name="ACCEL_X_CHAN" value="5"/>
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<define name="ACCEL_Y_CHAN" value="2"/>
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<define name="ACCEL_Z_CHAN" value="6"/>
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</section>
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<section name="AUTOPILOT">
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<define name="MODE_MANUAL" value="AP_MODE_RATE_DIRECT"/>
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<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
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<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<define name="BATTERY_SENS" value="0.48" integer="16"/>
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</section>
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<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
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<define name="SP_MAX_P" value="10000"/>
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<define name="SP_MAX_Q" value="10000"/>
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<define name="SP_MAX_R" value="10000"/>
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<define name="GAIN_P" value="-400"/>
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<define name="GAIN_Q" value="-400"/>
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<define name="GAIN_R" value="-350"/>
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</section>
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<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
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<!-- setpoints -->
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<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
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<define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
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<define name="SP_MAX_R" value="RadOfDeg(180.)"/><!-- Maximum speed in deg/s-->
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<define name="DEADBAND_R" value="250"/>
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<!-- reference -->
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<define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
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<define name="REF_ZETA_P" value="0.85"/>
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<define name="REF_MAX_P" value="RadOfDeg(300.)"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
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<define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
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<define name="REF_ZETA_Q" value="0.85"/>
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<define name="REF_MAX_Q" value="RadOfDeg(300.)"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
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<define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
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<define name="REF_ZETA_R" value="0.85"/>
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<define name="REF_MAX_R" value="RadOfDeg(180.)"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
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<!-- gaui props
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<define name="PHI_PGAIN" value="-900"/>
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<define name="PHI_DGAIN" value="-200"/>
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<define name="PHI_IGAIN" value="-200"/>
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<define name="THETA_PGAIN" value="-900"/>
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<define name="THETA_DGAIN" value="-200"/>
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<define name="THETA_IGAIN" value="-200"/>
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<define name="PSI_PGAIN" value="-900"/>
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<define name="PSI_DGAIN" value="-200"/>
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<define name="PSI_IGAIN" value="-10"/>
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<define name="PHI_DDGAIN" value=" 200"/>
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<define name="THETA_DDGAIN" value=" 200"/>
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<define name="PSI_DDGAIN" value=" 200"/>
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-->
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<!-- feedback -->
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<define name="PHI_PGAIN" value="-2000"/>
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<define name="PHI_DGAIN" value="-400"/>
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<define name="PHI_IGAIN" value="-200"/>
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<define name="THETA_PGAIN" value="-2000"/>
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<define name="THETA_DGAIN" value="-400"/>
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<define name="THETA_IGAIN" value="-200"/>
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<define name="PSI_PGAIN" value="-2000"/>
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<define name="PSI_DGAIN" value="-400"/>
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<define name="PSI_IGAIN" value="-10"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value=" 300"/>
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<define name="THETA_DDGAIN" value=" 300"/>
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<define name="PSI_DDGAIN" value=" 300"/>
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</section>
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<section name="AHRS" prefix="AHRS_">
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<define name="PROPAGATE_FREQUENCY" value="512"/>
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<define name="H_X" value=" 0.51562740288882"/>
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<define name="H_Y" value="-0.05707735220832"/>
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<define name="H_Z" value=" 0.85490967783446"/>
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</section>
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<section name="INS" prefix="INS_">
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<define name="BARO_SENS" value="10." integer="16"/>
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<define name="UNTILT_ACCEL" value="1"/>
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</section>
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
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<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
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<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
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<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
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<define name="MAX_SUM_ERR" value="2000000"/>
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<define name="HOVER_KP" value="-500"/>
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<define name="HOVER_KD" value="-200"/>
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<define name="HOVER_KI" value="0"/>
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<!--
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<define name="HOVER_KP" value="-150"/>
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<define name="HOVER_KD" value="-80"/>
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<define name="HOVER_KI" value="0"/>
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-->
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<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
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<define name="RC_CLIMB_COEF" value ="163"/>
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<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
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<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
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<!-- <define name="INV_M" value ="0.2"/> -->
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<define name="PGAIN" value="-50"/>
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<define name="DGAIN" value="-100"/>
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<define name="IGAIN" value="-15"/>
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<define name="NGAIN" value="-0"/>
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</section>
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<section name="MISC">
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<define name="FACE_REINJ_1" value="1024"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_NAMES" value="{"front_motor", "back_motor", "right_motor", "left_motor"}"/>
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<define name="INITIAL_CONDITITONS" value=""reset00""/>
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<define name="SENSORS_PARAMS" value=""nps_sensors_params_booz2_a1.h""/>
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</section>
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<!--
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<modules main_freq="512">
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<load name="vehicle_interface_overo_link.xml"/>
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</modules>
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-->
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<firmware name="rotorcraft">
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<!-- <define name="USE_PERSISTENT_SETTINGS"/> -->
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<!-- <define name="USE_INS_NAV_INIT"/> -->
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<define name="USE_ADAPT_HOVER"/>
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<define name="FAILSAFE_GROUND_DETECT"/>
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<define name="USE_GPS_ACC4R"/>
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<target name="ap" board="lisa_l_1.0">
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<subsystem name="radio_control" type="spektrum"/>
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<define name="RADIO_MODE" value="RADIO_GEAR"/>
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<define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,-1,1,-1,-1,-1,-1,1,1,1,1,1\}"/>
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<subsystem name="actuators" type="mkk"/>
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</target>
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<target name="sim" board="pc">
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<subsystem name="fdm" type="nps"/>
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<subsystem name="radio_control" type="ppm"/>
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<subsystem name="actuators" type="mkk"/>
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</target>
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<subsystem name="telemetry" type="transparent"/>
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<subsystem name="imu" type="crista"/>
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<!--<define name="USE_HMC5843" value="TRUE"/>-->
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<subsystem name="gps" type="ublox">
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<configure name="GPS_BAUD" value="B57600"/>
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</subsystem>
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<!-- <subsystem name="ahrs" type="cmpl"/> -->
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<subsystem name="ahrs" type="ic"/>
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<subsystem name="ins" type="hff"/>
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</firmware>
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<firmware name="lisa_l_test_progs">
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<target name="test_led" board="lisa_l_1.0"/>
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<target name="test_uart" board="lisa_l_1.0"/>
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<target name="test_servos" board="lisa_l_1.0"/>
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<target name="test_telemetry" board="lisa_l_1.0"/>
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<target name="test_baro" board="lisa_l_1.0"/>
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<target name="test_imu_b2" board="lisa_l_1.0"/>
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<target name="test_imu_b2_2" board="lisa_l_1.0"/>
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<target name="test_imu_aspirin" board="lisa_l_1.0"/>
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<target name="test_rc_spektrum" board="lisa_l_1.0"/>
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<target name="test_rc_ppm" board="lisa_l_1.0"/>
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<target name="test_adc" board="lisa_l_1.0"/>
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<target name="test_hmc5843" board="lisa_l_1.0"/>
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<target name="test_itg3200" board="lisa_l_1.0"/>
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<target name="test_adxl345" board="lisa_l_1.0"/>
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<target name="test_esc_mkk_simple" board="lisa_l_1.0"/>
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<target name="test_esc_asctecv1_simple" board="lisa_l_1.0"/>
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<target name="test_actuators_mkk" board="lisa_l_1.0"/>
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<target name="test_actuators_asctecv1" board="lisa_l_1.0"/>
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<target name="tunnel_sw" board="lisa_l_1.0"/>
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<target name="tunnel_hw" board="lisa_l_1.0"/>
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</firmware>
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<firmware name="lisa_passthrough">
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<target name="overo_test_passthrough" board="lisa_l_1.0" >
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<param name="HOST" value="A7"/>
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<param name="USER" value=""/>
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<param name="TARGET_DIR" value="~"/>
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<param name="PERIODIC_FREQ" value="512"/>
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</target>
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<target name="stm_passthrough" board="lisa_l_1.0">
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<subsystem name="radio_control" type="ppm"/>
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<subsystem name="imu" type="crista"/>
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</target>
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</firmware>
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</airframe>
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