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Antoine Drouin
2008-08-14 16:26:37 +00:00
parent 7a82cb3a51
commit 482600fdd8
4 changed files with 9 additions and 29 deletions
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conf/airframes/booz2.xml
+3 -26
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@@ -101,36 +101,13 @@
<section name="BOOZ_STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
<define name="SP_MAX_PHI" value="10000"/>
<define name="SP_MAX_THETA" value="10000"/>
<define name="SP_MAX_PSI" value=" 5000"/>
<define name="SP_MAX_PHI" value="4000"/>
<define name="SP_MAX_THETA" value="4000"/>
<define name="SP_MAX_R" value=" 5000"/>
</section>
<section name="BOOZ_CONTROL" prefix="BOOZ_CONTROL_">
<define name="RATE_PQ_PGAIN" value="-700."/>
<define name="RATE_PQ_DGAIN" value="15."/>
<define name="RATE_R_PGAIN" value="-600."/>
<define name="RATE_R_DGAIN" value="0."/>
<!-- setpoints for max stick throw in degres per second -->
<define name="RATE_PQ_MAX_SP" value="120."/>
<define name="RATE_R_MAX_SP" value="100."/>
<define name="ATTITUDE_PHI_THETA_PGAIN" value="-1250."/>
<define name="ATTITUDE_PHI_THETA_DGAIN" value="-700."/>
<define name="ATTITUDE_PSI_PGAIN" value="-1050."/>
<define name="ATTITUDE_PSI_DGAIN" value="-850."/>
<!-- setpoints for max stick throw in degres -->
<define name="ATTITUDE_PHI_THETA_MAX_SP" value="30."/>
<define name="ATTITUDE_PSI_MAX_SP" value="45."/>
</section>
<makefile>
conf/autopilot/conf_booz2.makefile
+5 -2
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@@ -82,7 +82,7 @@ ap.ARCH = arm7tdmi
ap.TARGET = ap
ap.TARGETDIR = ap
ap.CFLAGS += -DKILL_MOTORS
#ap.CFLAGS += -DKILL_MOTORS
ap.CFLAGS += -DCONFIG=\"booz2_board.h\" -I$(BOOZ_ARCH) -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH)
ap.srcs += $(BOOZ_PRIV)/booz2_main.c
@@ -119,12 +119,14 @@ ap.srcs += $(BOOZ_PRIV)/booz2_analog_baro.c
ap.srcs += $(BOOZ_PRIV)/booz2_autopilot.c
ap.srcs += $(BOOZ_PRIV)/booz2_stabilization.c
ap.srcs += $(BOOZ_PRIV)/booz2_stabilization_rate.c
ap.srcs += $(BOOZ_PRIV)/booz2_stabilization_attitude.c
ap.srcs += $(BOOZ_PRIV)/booz_supervision_int.c
ap.CFLAGS += -DALIGNER_LED=6
ap.srcs += $(BOOZ_PRIV)/booz2_aligner.c
ap.srcs += $(BOOZ_PRIV)/booz2_att_cmpl_flt.c
#
# IMU V3 MCU
#
@@ -136,7 +138,8 @@ imu.TARGETDIR = imu
imu.CFLAGS += -DCONFIG=\"pprz_imu.h\" -I$(BOOZ) -I$(BOOZ_ARCH) -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH)
imu.srcs += $(BOOZ_PRIV)/imu_v3_main.c
imu.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./500.))' -DTIME_LED=1
imu.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./500.))'
# -DTIME_LED=1
imu.CFLAGS += -DLED
imu.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
conf/messages.xml
-1
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@@ -971,7 +971,6 @@
<field name="qz" type="int32"/>
</message>
<message name="VOR" ID="140">
<field name="qdr" type="int32"/>
<field name="nb_adc_overrun" type="uint32"/>
conf/telemetry/telemetry_booz2.xml
+1
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@@ -11,6 +11,7 @@
<message name="BOOZ2_RATE_LOOP" period=".05"/>
<message name="BOOZ2_ALIGNER" period=".1"/>
<message name="BOOZ2_FILTER_Q" period=".05"/>
<!-- <message name="BOOZ2_ATT_LOOP" period=".05"/> -->
</mode>
<mode name="debug">