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TJ1: 32mn flight

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This commit is contained in:
Antoine Drouin
2006-05-28 13:15:40 +00:00
parent e55760fc07
commit 381cd9bb5a
2 changed files with 19 additions and 11 deletions
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conf/airframes/twinjet1.xml
+9 -9
View File
@@ -2,8 +2,8 @@
<servos>
<servo name="GAZ" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="AILEVON_RIGHT" no="1" min="1230" neutral="1640" max="2100"/>
<servo name="AILEVON_LEFT" no="2" min="2120" neutral="1700" max="1300"/>
<servo name="AILEVON_RIGHT" no="1" min="1230" neutral="1652" max="2100"/>
<servo name="AILEVON_LEFT" no="2" min="2120" neutral="1750" max="1300"/>
</servos>
<commands>
@@ -59,9 +59,9 @@
</section>
<section name="PID">
<define name="ROLL_PGAIN" value="5000."/>
<define name="ROLL_PGAIN" value="8000."/>
<define name="PITCH_OF_ROLL" value="0.0"/>
<define name="PITCH_PGAIN" value="5000."/>
<define name="PITCH_PGAIN" value="8000."/>
<define name="MAX_ROLL" value="0.35"/>
<define name="MAX_PITCH" value="0.35"/>
<define name="MIN_PITCH" value="-0.35"/>
@@ -71,16 +71,16 @@
<section name="ALT" prefix="CLIMB_">
<define name="PITCH_PGAIN" value="-0.1"/>
<define name="PITCH_IGAIN" value="0.025"/>
<define name="PGAIN" value="-0.03"/>
<define name="PGAIN" value="-0.01"/>
<define name="IGAIN" value="0.1"/>
<define name="MAX" value="1."/>
<define name="LEVEL_GAZ" value="0.50"/>
<define name="LEVEL_GAZ" value="0.30"/>
<define name="PITCH_OF_VZ_PGAIN" value="0.05"/>
<define name="GAZ_OF_CLIMB" value="0.2" unit="%/(m/s)"/>
</section>
<section name="NAV">
<define name="COURSE_PGAIN" value="-0.2"/>
<define name="COURSE_PGAIN" value="-0.3"/>
<define name="ALTITUDE_PGAIN" value="-0.025"/>
<define name="NAV_PITCH" value="0."/>
</section>
@@ -126,13 +126,13 @@ fbw.srcs += $(SRC_ARCH)/servos_4017_hw.c
fbw.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA
fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
fbw.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0
fbw.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DUART0_BAUD=B9600
fbw.srcs += downlink.c pprz_transport.c $(SRC_ARCH)/uart_hw.c
fbw.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK
fbw.srcs += inter_mcu.c link_mcu.c spi.c $(SRC_ARCH)/spi_hw.c
fbw.CFLAGS += -DADC -DUSE_AD0_6
fbw.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_6
fbw.srcs += $(SRC_ARCH)/adc_hw.c
sw/airborne/downlink.c
+10 -2
View File
@@ -1,9 +1,17 @@
#include "ap_downlink.h"
#ifdef FBW
uint8_t telemetry_mode_Fbw = 0;
#ifndef TELEMETRY_MODE_FBW
#define TELEMETRY_MODE_FBW 0
#endif
uint8_t telemetry_mode_Fbw = TELEMETRY_MODE_FBW;
#endif
#ifdef AP
uint8_t telemetry_mode_Ap = 0;
#ifndef TELEMETRY_MODE_AP
#define TELEMETRY_MODE_AP 0
#endif
uint8_t telemetry_mode_Ap =TELEMETRY_MODE_AP;
#endif