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update G1 conf

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Gautier Hattenberger
2010-02-24 09:45:46 +00:00
parent cae4a2be8a
commit 33f26d4ab5
1 changed files with 12 additions and 3 deletions
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conf/airframes/ENAC/quadrotor/booz2_g1.xml
+12 -3
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@@ -146,12 +146,13 @@
</section> </section>
<section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
<define name="PGAIN" value="-70"/> <define name="PGAIN" value="-70"/>
<define name="DGAIN" value="-150"/> <define name="DGAIN" value="-150"/>
<define name="IGAIN" value="-15"/> <define name="IGAIN" value="-15"/>
<define name="NGAIN" value="-0"/> <define name="NGAIN" value="-0"/>
<define name="AGAIN" value="-0"/> <!-- feedforward -->
<define name="AGAIN" value="100"/>
</section> </section>
<section name="BAT"> <section name="BAT">
@@ -189,7 +190,7 @@
<section name="SIMULATOR" prefix="NPS_"> <section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/> <define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/> <!--define name="INITIAL_CONDITITONS" value="&quot;reset_enac&quot;"/-->
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/> <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section> </section>
@@ -207,6 +208,7 @@ include $(CFG_BOOZ)/booz2_test_progs.makefile
ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\" sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\"
sim.CFLAGS += -DNPS_NO_SUPERVISION
include $(CFG_BOOZ)/booz2_simulator_nps.makefile include $(CFG_BOOZ)/booz2_simulator_nps.makefile
ap.CFLAGS += -DMODEM_BAUD=B57600 ap.CFLAGS += -DMODEM_BAUD=B57600
@@ -214,6 +216,7 @@ include $(CFG_BOOZ)/subsystems/booz2_actuators_asctec.makefile
include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
include $(CFG_BOOZ)/subsystems/booz2_gps.makefile include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
include $(CFG_BOOZ)/subsystems/booz2_analog_bat_baro.makefile
include $(CFG_BOOZ)/subsystems/booz2_fms_datalink.makefile include $(CFG_BOOZ)/subsystems/booz2_fms_datalink.makefile
include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
@@ -223,10 +226,16 @@ include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
#ap.CFLAGS += -DGPS_LAG=0.8 #ap.CFLAGS += -DGPS_LAG=0.8
ap.CFLAGS += -DUSE_GPS_ACC4R ap.CFLAGS += -DUSE_GPS_ACC4R
ap.CFLAGS += -DB2_GUIDANCE_H_USE_REF
sim.CFLAGS += -DB2_GUIDANCE_H_USE_REF
ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3 ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
ap.CFLAGS += -DUSE_CAM ap.CFLAGS += -DUSE_CAM
ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c $(SRC_BOOZ)/booz2_cam.c ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c $(SRC_BOOZ)/booz2_cam.c
sim.CFLAGS += -DUSE_CAM
sim.srcs += $(SRC_BOOZ_SIM)/booz2_pwm_hw.c $(SRC_BOOZ)/booz2_cam.c
</makefile> </makefile>