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documentation and heli450 update

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This commit is contained in:
Ewoud Smeur
2016-03-30 18:47:03 +02:00
parent 801c7eb76d
commit 4754f42dd4
2 changed files with 19 additions and 12 deletions
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conf/airframes/TUDELFT/tudelft_heli450.xml
+8 -8
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@@ -37,10 +37,10 @@
<servos driver="Pwm">
<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="FRONT" no="1" min="2100" neutral="1500" max="900"/>
<servo name="RIGHTBACK" no="2" min="900" neutral="1500" max="2100"/>
<servo name="LEFTBACK" no="3" min="2100" neutral="1500" max="900"/>
<servo name="TAIL" no="4" min="1100" neutral="1450" max="1800"/>
<servo name="BACK" no="1" min="1050" neutral="1500" max="1950"/>
<servo name="LEFTFRONT" no="2" min="1050" neutral="1500" max="1950"/>
<servo name="RIGHTFRONT" no="3" min="1950" neutral="1500" max="1050"/>
<servo name="TAIL" no="4" min="1850" neutral="1600" max="1350"/>
</servos>
<commands>
@@ -61,7 +61,7 @@
<section name="MIXING" prefix="SW_MIXING_">
<!-- front left (CW), front right (CCW), back right (CW), back left (CCW) -->
<define name="TYPE" value="H120"/>
<define name="TYPE" value="HR120"/>
<define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/>
<define name="TRIM_COLL" value="0"/>
@@ -71,9 +71,9 @@
<call fun="throttle_curve_run(autopilot_motors_on, values)"/>
<call fun="swashplate_mixing_run(values)"/>
<set servo="THROTTLE" value="throttle_curve.throttle"/>
<set servo="FRONT" value="swashplate_mixing.commands[SW_FRONT]"/>
<set servo="RIGHTBACK" value="swashplate_mixing.commands[SW_RIGHTBACK]"/>
<set servo="LEFTBACK" value="swashplate_mixing.commands[SW_LEFTBACK]"/>
<set servo="BACK" value="swashplate_mixing.commands[SW_BACK]"/>
<set servo="LEFTFRONT" value="swashplate_mixing.commands[SW_LEFTFRONT]"/>
<set servo="RIGHTFRONT" value="swashplate_mixing.commands[SW_RIGHTFRONT]"/>
<set servo="TAIL" value="@YAW + throttle_curve.throttle*2800/7000"/>
</command_laws>