mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-06 07:53:43 +08:00
airframe files
This commit is contained in:
Gautier Hattenberger
@@ -1,37 +1,69 @@
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<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
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<!-- Fire Storm
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Tiny 1.1
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Tilted infrared sensor
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Umarim
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Radiotronix modem
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Drop servo -->
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-->
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<airframe name="FireStorm">
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<modules>
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<load name="poles.xml"/>
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<load name="baro_board.xml"/>
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</modules>
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<!-- commands section -->
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<firmware name="fixedwing">
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<define name="AGR_CLIMB"/>
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<define name="ALT_KALMAN"/>
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<define name="LOITER_TRIM"/>
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<!--define name="PITCH_TRIM"/-->
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<target name="sim" board="pc"/>
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<target name="ap" board="umarim_1.0">
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<configure name="FLASH_MODE" value="IAP"/>
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</target>
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<subsystem name="radio_control" type="ppm"/>
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<subsystem name="i2c">
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<define name="USE_I2C0"/>
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<define name="USE_I2C1"/>
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</subsystem>
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<!-- Communication -->
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<subsystem name="telemetry" type="transparent"/>
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<!-- Actuators are automatically chosen according to board-->
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<subsystem name="imu" type="umarim"/>
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<subsystem name="ahrs" type="dcm">
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<define name="USE_HIGH_ACCEL_FLAG"/>
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</subsystem>
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<subsystem name="control" type="adaptive"/>
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<subsystem name="navigation"/>
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<!-- Sensors -->
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<subsystem name="gps" type="ublox"/>
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<subsystem name="current_sensor">
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<configure name="ADC_CURRENT_SENSOR" value="ADC_0"/>
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</subsystem>
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</firmware>
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<!-- commands section -->
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<servos>
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<servo name="MOTOR" no="3" min="1250" neutral="1250" max="1800"/>
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<servo name="AILEVON_LEFT" no="4" min="1850" neutral="1370" max="1000"/>
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<servo name="AILEVON_RIGHT" no="5" min="1000" neutral="1515" max="1870"/>
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<servo name="HATCH" no="6" min="1350" neutral="1900" max="1900"/>
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<servo name="MOTOR" no="2" min="1250" neutral="1250" max="1800"/>
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<servo name="AILEVON_LEFT" no="0" min="1850" neutral="1370" max="1000"/>
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<servo name="AILEVON_RIGHT" no="1" min="1000" neutral="1515" max="1870"/>
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</servos>
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<commands>
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<axis name="THROTTLE" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="HATCH" failsafe_value="0"/>
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</commands>
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<rc_commands>
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<set command="THROTTLE" value="@THROTTLE"/>
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<set command="ROLL" value="@ROLL"/>
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<set command="PITCH" value="@PITCH"/>
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<set command="HATCH" value="@GAIN1"/>
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</rc_commands>
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<section name="MIXER">
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@@ -44,7 +76,6 @@
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<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
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<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
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<set servo="MOTOR" value="@THROTTLE"/>
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<set servo="HATCH" value="@HATCH"/>
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<set servo="AILEVON_LEFT" value="$elevator + ($aileron > 0 ? 1 : AILERON_DIFF) * $aileron"/>
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<set servo="AILEVON_RIGHT" value="$elevator - ($aileron > 0 ? AILERON_DIFF : 1) * $aileron"/>
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</command_laws>
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@@ -54,56 +85,51 @@
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<define name="MAX_PITCH" value="0.6"/>
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</section>
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<section name="adc" prefix="ADC_CHANNEL_">
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<define name="IR1" value="ADC_2"/>
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<define name="IR2" value="ADC_1"/>
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<define name="IR_TOP" value="ADC_0"/>
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<define name="IR_NB_SAMPLES" value="16"/>
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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_ROLL" value="ADC_3"/>
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<define name="GYRO_NB_SAMPLES" value="16"/>
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<!-- Calibration Neutral -->
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<define name="GYRO_P_NEUTRAL" value="-53"/>
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<define name="GYRO_Q_NEUTRAL" value="33"/>
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<define name="GYRO_R_NEUTRAL" value="-16"/>
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<!-- SENS ITG3200 1/14.375 (deg/s)/LSB, rate frac 12bit => 1/14.375 * pi / 180 * 2^12 -->
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<define name="GYRO_P_SENS" value="4.97312" integer="16"/>
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<define name="GYRO_Q_SENS" value="4.97312" integer="16"/>
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<define name="GYRO_R_SENS" value="4.97312" 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="-2"/>
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<define name="ACCEL_Y_NEUTRAL" value="1"/>
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<define name="ACCEL_Z_NEUTRAL" value="-43"/>
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<define name="ACCEL_X_SENS" value="38.9923420841" integer="16"/>
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<define name="ACCEL_Y_SENS" value="39.2011913001" integer="16"/>
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<define name="ACCEL_Z_SENS" value="39.4148057033" integer="16"/>
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<!-- Just to compile -->
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<define name="MAG_X_NEUTRAL" value="0"/>
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<define name="MAG_Y_NEUTRAL" value="0"/>
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<define name="MAG_Z_NEUTRAL" value="0"/>
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<define name="BODY_TO_IMU_PHI" value="0"/>
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<define name="BODY_TO_IMU_THETA" value="0"/>
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<define name="BODY_TO_IMU_PSI" value="0"/>
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</section>
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<section name="INFRARED" prefix="IR_">
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<define name="ADC_IR1_NEUTRAL" value="512"/>
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<define name="ADC_IR2_NEUTRAL" value="512"/>
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<define name="ADC_TOP_NEUTRAL" value="512"/>
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<define name="LATERAL_CORRECTION" value="1."/>
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<define name="LONGITUDINAL_CORRECTION" value="1."/>
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<define name="VERTICAL_CORRECTION" value="1.2"/>
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<define name="HORIZ_SENSOR_TILTED" value="1"/>
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<define name="IR1_SIGN" value="-1"/>
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<define name="IR2_SIGN" value="1"/>
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<define name="TOP_SIGN" value="-1"/>
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<define name="ROLL_NEUTRAL_DEFAULT" value="3.49504256248" unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="-0.114591561258" unit="deg"/>
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<define name="CORRECTION_UP" value="1."/>
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<define name="CORRECTION_DOWN" value="1."/>
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<define name="CORRECTION_LEFT" value="1."/>
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<define name="CORRECTION_RIGHT" value="1."/>
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</section>
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<section name="GYRO" prefix="GYRO_">
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<define name="ADC_ROLL_NEUTRAL" value="492"/>
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<define name="ADC_TEMP_NEUTRAL" value="512"/>
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<define name="ADC_TEMP_SLOPE" value="0"/>
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<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
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<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
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<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
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<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
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<define name="ROLL_DIRECTION" value="1."/>
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<section name="INS" prefix="INS_">
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<define name="ROLL_NEUTRAL_DEFAULT" value="0.048" unit="rad"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="0." unit="rad"/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="2000"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<define name="MilliAmpereOfAdc(_adc)" value="(_adc-162)*17.4"/>
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</section>
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@@ -113,11 +139,8 @@
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<define name="MAXIMUM_AIRSPEED" value="24." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
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<define name="CONTROL_RATE" value="60" unit="Hz"/>
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<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
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<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
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</section>
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@@ -173,7 +196,6 @@
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<section name="NAV">
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<define name="NAV_PITCH" value="0."/>
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<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
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<define name="NAV_GROUND_SPEED_PGAIN" value="-0.01"/>
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</section>
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<section name="AGGRESSIVE" prefix="AGR_">
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@@ -188,87 +210,21 @@
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</section>
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<section name="GYRO_GAINS">
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<!--section name="GYRO_GAINS">
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<define name="GYRO_MAX_RATE" value="200."/>
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<define name="ROLLRATESUM_NB_SAMPLES" value="64"/>
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<define name="ALT_ROLL__PGAIN" value="1.0"/>
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<define name="ROLL_RATE_PGAIN" value="1000.0"/>
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<define name="ROLL_RATE_IGAIN" value="0.0"/>
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<define name="ROLL_RATE_DGAIN" value="0.0"/>
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</section>
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</section-->
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
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<define name="HOME_RADIUS" value="100" unit="m"/>
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</section>
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<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
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<define name="HOME_RADIUS" value="100" unit="m"/>
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</section>
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<makefile>
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CONFIG = \"tiny_1_1.h\"
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include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
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FLASH_MODE=IAP
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ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
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ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
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ap.srcs += commands.c
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ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
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ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
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ap.CFLAGS += -DRADIO_CONTROL
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ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
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ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
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ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
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ap.CFLAGS += -DINTER_MCU
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ap.srcs += inter_mcu.c
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ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
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ap.srcs += $(SRC_ARCH)/adc_hw.c
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ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 -DGPS_LED=2
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#ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600 -DGPS_LED=2
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#ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
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ap.srcs += gps_ubx.c gps.c latlong.c
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ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN
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ap.srcs += infrared.c estimator.c
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ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
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ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
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ap.CFLAGS += -DUSE_GYRO -DADXRS150
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ap.srcs += gyro.c subsystems/navigation/nav_line.c
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ap.srcs += subsystems/navigation/nav_survey_rectangle.c
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# Current sensor; Neutral=162
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#ap.CFLAGS += -DUSE_ADC_7 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_7 -DADC_CHANNEL_GENERIC_NB_SAMPLES=16
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#ap.srcs += adc_generic.c
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ap.CFLAGS += -DUSE_ADC_7 -DADC_CHANNEL_CURRENT=ADC_7
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ap.CFLAGS += -DUSE_MODULES
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|
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# Config for SITL simulation
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#include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
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sim.ARCHDIR = $(ARCHI)
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sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
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sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
|
||||
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
|
||||
sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
|
||||
|
||||
sim.CFLAGS += -DUSE_MODULES
|
||||
</makefile>
|
||||
</airframe>
|
||||
|
||||
@@ -34,10 +34,12 @@
|
||||
<!-- Actuators are automatically chosen according to board-->
|
||||
<subsystem name="imu" type="umarim"/>
|
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<subsystem name="ahrs" type="float_dcm"/>
|
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<define name="USE_HIGH_ACCEL_FLAG"/>
|
||||
</subsystem>
|
||||
<subsystem name="control" type="new"/>
|
||||
<subsystem name="navigation"/>
|
||||
<!-- Sensors -->
|
||||
<subsystem name="gps" type="ublox_lea5h"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
</firmware>
|
||||
|
||||
|
||||
|
||||
@@ -18,6 +18,7 @@
|
||||
<target name="ap" board="booz_1.0">
|
||||
<define name="FAILSAFE_GROUND_DETECT"/>
|
||||
<define name="USE_GPS_ACC4R"/>
|
||||
<define name="BOOZ_START_DELAY" value="3"/>
|
||||
</target>
|
||||
<target name="sim" board="pc">
|
||||
<subsystem name="fdm" type="nps"/>
|
||||
@@ -28,8 +29,10 @@
|
||||
<subsystem name="telemetry" type="transparent"/>
|
||||
<subsystem name="actuators" type="asctec"/>
|
||||
<subsystem name="imu" type="b2_v1.1"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="stabilization" type="euler"/>
|
||||
<subsystem name="gps" type="ublox">
|
||||
<configure name="GPS_BAUD" value="B57600"/>
|
||||
</subsystem>
|
||||
<subsystem name="stabilization" type="euler"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_euler"/>
|
||||
<subsystem name="ins" type="hff"/>
|
||||
</firmware>
|
||||
@@ -93,9 +96,10 @@
|
||||
<define name="MAG_Y_SENS" value="5.43740121157" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="2.60492836649" integer="16"/>
|
||||
|
||||
<define name="BODY_TO_IMU_PHI" value="RadOfDeg(-1.5)"/>
|
||||
<define name="BODY_TO_IMU_THETA" value="RadOfDeg(-1.5)"/>
|
||||
<define name="BODY_TO_IMU_PSI" value="RadOfDeg(-45)"/> <!-- -13 -->
|
||||
<define name="BODY_TO_IMU_PHI" value="RadOfDeg(-10.)"/>
|
||||
<define name="BODY_TO_IMU_THETA" value="RadOfDeg(-10.)"/>
|
||||
<!--define name="BODY_TO_IMU_PSI" value="RadOfDeg(45.)"/-->
|
||||
<define name="BODY_TO_IMU_PSI" value="RadOfDeg(0.)"/>
|
||||
|
||||
</section>
|
||||
|
||||
@@ -159,7 +163,6 @@
|
||||
<define name="TRIM_A" value="0"/>
|
||||
<define name="TRIM_E" value="0"/>
|
||||
<define name="TRIM_R" value="0"/>
|
||||
<define name="HACK_45" value="1"/>
|
||||
</section>
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
@@ -178,8 +181,8 @@
|
||||
<define name="REF_MAX_ZDD" value=" 0.8*9.81"/>
|
||||
<define name="REF_MIN_ZD" value="-1.5"/>
|
||||
<define name="REF_MAX_ZD" value=" 1.5"/>
|
||||
<define name="HOVER_KP" value="-500"/>
|
||||
<define name="HOVER_KD" value="-250"/>
|
||||
<define name="HOVER_KP" value="-400"/>
|
||||
<define name="HOVER_KD" value="-200"/>
|
||||
<define name="HOVER_KI" value="0"/>
|
||||
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
|
||||
<define name="RC_CLIMB_COEF" value ="163"/>
|
||||
@@ -199,7 +202,7 @@
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<define name="BATTERY_SENS" value="0.25" integer="16"/>
|
||||
<define name="VoltageOfAdc(adc)" value="(0.025*adc)"/>
|
||||
</section>
|
||||
|
||||
<section name="AUTOPILOT">
|
||||
|
||||
@@ -12,6 +12,7 @@
|
||||
<define name="USE_INS_NAV_INIT"/>
|
||||
<define name="USE_ADAPT_HOVER"/>
|
||||
<define name="NO_FUCKING_STARTUP_DELAY"/>
|
||||
<define name="NO_ANGLE_REF"/>
|
||||
<!--define name="GUIDANCE_H_USE_REF"/-->
|
||||
|
||||
<target name="ap" board="navgo_1.0">
|
||||
@@ -31,7 +32,9 @@
|
||||
<subsystem name="imu" type="navgo"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="stabilization" type="euler"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_euler"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_euler">
|
||||
<define name="LOW_NOISE_THRESHOLD" value="50000"/>
|
||||
</subsystem>
|
||||
<subsystem name="ins" type="hff"/>
|
||||
</firmware>
|
||||
|
||||
@@ -57,7 +60,7 @@
|
||||
<section name="SUPERVISION" prefix="SUPERVISION_">
|
||||
<define name="MIN_MOTOR" value="20"/>
|
||||
<define name="MAX_MOTOR" value="255"/>
|
||||
<define name="TRIM_A" value="0"/>
|
||||
<define name="TRIM_A" value="6"/>
|
||||
<define name="TRIM_E" value="0"/>
|
||||
<define name="TRIM_R" value="0"/>
|
||||
<define name="NB_MOTOR" value="4"/>
|
||||
@@ -70,18 +73,52 @@
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
|
||||
<define name="GYRO_P_NEUTRAL" value="5"/>
|
||||
<define name="GYRO_Q_NEUTRAL" value="-10"/>
|
||||
<define name="GYRO_R_NEUTRAL" value="17"/>
|
||||
<define name="GYRO_P_NEUTRAL" value="-126"/>
|
||||
<define name="GYRO_Q_NEUTRAL" value="-29"/>
|
||||
<define name="GYRO_R_NEUTRAL" value="-32"/>
|
||||
|
||||
<!-- SENS ITG3200 1/14.375 (deg/s)/LSB, rate frac 12bit => 1/14.375 * pi / 180 * 2^12 -->
|
||||
<define name="GYRO_P_SENS" value="4.97312" integer="16"/>
|
||||
<define name="GYRO_Q_SENS" value="4.97312" integer="16"/>
|
||||
<define name="GYRO_R_SENS" value="4.97312" integer="16"/>
|
||||
|
||||
<define name="ACCEL_X_NEUTRAL" value="-5"/>
|
||||
<define name="ACCEL_X_NEUTRAL" value="4"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="-17"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="-22"/>
|
||||
|
||||
<!-- SENS ADXL345 16G 31.2 mg/LSB, accel frac 10bit => 31.2 * 2^10 / 1000 = 31.9488-->
|
||||
<define name="ACCEL_X_SENS" value="38.2816633245" integer="16"/>
|
||||
<define name="ACCEL_Y_SENS" value="38.7857058923" integer="16"/>
|
||||
<define name="ACCEL_Z_SENS" value="39.7459254023" integer="16"/>
|
||||
|
||||
<define name="MAG_X_NEUTRAL" value="85"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="97"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="-43"/>
|
||||
|
||||
<define name="MAG_X_SENS" value="5.43371021972" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="4.8961742578" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="5.31527656902" integer="16"/>
|
||||
|
||||
<define name="BODY_TO_IMU_PHI" value="RadOfDeg(0.)"/> <!-- -10 -->
|
||||
<define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)"/> <!-- -10 -->
|
||||
<define name="BODY_TO_IMU_PSI" value="RadOfDeg(0.)"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="IMU_PROTO" prefix="IMU_PROTO_">
|
||||
|
||||
<define name="GYRO_P_NEUTRAL" value="-24"/>
|
||||
<define name="GYRO_Q_NEUTRAL" value="-8"/>
|
||||
<define name="GYRO_R_NEUTRAL" value="21"/>
|
||||
|
||||
<!-- SENS ITG3200 1/14.375 (deg/s)/LSB, rate frac 12bit => 1/14.375 * pi / 180 * 2^12 -->
|
||||
<define name="GYRO_P_SENS" value="4.97312" integer="16"/>
|
||||
<define name="GYRO_Q_SENS" value="4.97312" integer="16"/>
|
||||
<define name="GYRO_R_SENS" value="4.97312" integer="16"/>
|
||||
|
||||
<define name="ACCEL_X_NEUTRAL" value="-9"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="0"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="-20"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="-29"/>
|
||||
|
||||
<!-- SENS ADXL345 16G 31.2 mg/LSB, accel frac 10bit => 31.2 * 2^10 / 1000 = 31.9488-->
|
||||
<define name="ACCEL_X_SENS" value="38.2683" integer="16"/>
|
||||
@@ -153,22 +190,22 @@
|
||||
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
|
||||
|
||||
<!-- feedback -->
|
||||
<define name="PHI_PGAIN" value="-700"/>
|
||||
<define name="PHI_DGAIN" value="-200"/>
|
||||
<define name="PHI_IGAIN" value="-50"/>
|
||||
<define name="PHI_PGAIN" value="-350"/>
|
||||
<define name="PHI_DGAIN" value="-190"/>
|
||||
<define name="PHI_IGAIN" value="-100"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="-700"/>
|
||||
<define name="THETA_DGAIN" value="-200"/>
|
||||
<define name="THETA_IGAIN" value="-50"/>
|
||||
<define name="THETA_PGAIN" value="-350"/>
|
||||
<define name="THETA_DGAIN" value="-190"/>
|
||||
<define name="THETA_IGAIN" value="-100"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="-700"/>
|
||||
<define name="PSI_DGAIN" value="-250"/>
|
||||
<define name="PSI_IGAIN" value="-20"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value=" 300"/>
|
||||
<define name="THETA_DDGAIN" value=" 300"/>
|
||||
<define name="PSI_DDGAIN" value=" 300"/>
|
||||
<define name="PHI_DDGAIN" value=" 70"/>
|
||||
<define name="THETA_DDGAIN" value=" 70"/>
|
||||
<define name="PSI_DDGAIN" value=" 70"/>
|
||||
|
||||
</section>
|
||||
|
||||
|
||||
Reference in New Issue
Block a user