updated tudelft conf

conf/airframes/TUDELFT/tudelft_conf.xml

@@ -274,6 +274,17 @@
    settings_modules="modules/gps_ubx_ucenter.xml"
    gui_color="#ffff9027e8ad"
   />
+  <aircraft
+   name="quadshot"
+   ac_id="6"
+   airframe="airframes/examples/quadshot_asp21_spektrum.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/TUDELFT/tudelft_delft_basic.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml"
+   gui_color="blue"
+  />
   <aircraft
    name="quadshot_pylons"
    ac_id="178"

conf/airframes/TUDELFT/tudelft_mavshot.xml

@@ -45,8 +45,8 @@
     <let var="hover_left"  value="3*$aileron_feedback_left"/>
     <let var="hover_right" value="3*$aileron_feedback_right"/>
 
-    <let var="forward_left"  value="6*$aileron_feedback_left+4*$elevator_feedback_left"/>
+    <let var="forward_left"  value="1*$aileron_feedback_left+4*$elevator_feedback_left"/>
-    <let var="forward_right" value="6*$aileron_feedback_right+4*$elevator_feedback_right"/>
+    <let var="forward_right" value="1*$aileron_feedback_right+4*$elevator_feedback_right"/>
 
     <!-- This statement tells the autopilot to use the hover feedback if in mode attitude direct and to use the forward feedback in all other cases-->
     <set servo="ELEVON_LEFT"    value="AP_MODE == AP_MODE_ATTITUDE_DIRECT ? $hover_left  : $forward_left" />
@@ -104,8 +104,8 @@
   </section>
 
   <section name="BAT">
-    <define name="MIN_BAT_LEVEL" value="10.4" units="V"/>
+    <define name="MIN_BAT_LEVEL" value="10.9" units="V"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="10.3" unit="V"/>
   </section>
 
 
@@ -219,6 +219,7 @@
   </section>
 
   <section name="AHRS" prefix="AHRS_">
+    <define name="GRAVITY_HEURISTIC_FACTOR" value="0"/>
     <define name="H_X" value=" 0.47577"/>
     <define name="H_Y" value=" 0.11811"/>
     <define name="H_Z" value=" 0.87161"/>
@@ -236,9 +237,8 @@
     <!--The Quadshot uses a slightly different axis system for the setpoint, to make both hovering and flying forward intuitive-->
     <define name="USE_EARTH_BOUND_RC_SETPOINT" value="TRUE"/>
     <!-- This is the pitch angle that the Quadshot will have in forward flight, where 0 degrees is hover-->
-    <define name="TRANSITION_MAX_OFFSET" value="-82.0" unit="deg"/>
+    <define name="TRANSITION_MAX_OFFSET" value="-80.0" unit="deg"/>
     <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
-<!--     <define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value=" {1,1,-1,-1,1,-1,1,1,1,1,1,1}"/> -->
   </section>
 
   <modules main_freq="512">
@@ -258,7 +258,7 @@
     <target name="ap" board="lisa_m_2.0">
       <subsystem name="radio_control" type="spektrum">
         <!-- Put the mode on channel AUX1-->
-        <define name="RADIO_KILL_SWITCH" value="6"/>
+        <define name="RADIO_KILL_SWITCH" value="5"/>
         <!--       <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/> -->
       </subsystem>
 
@@ -281,6 +281,7 @@
     <subsystem name="imu"           type="aspirin_v2.2"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization" type="indi"/>
+    <subsystem name="stabilization" type="rate_indi"/>
 
     <subsystem name="ahrs"          type="int_cmpl_quat">
       <configure name="USE_MAGNETOMETER" value="TRUE"/>

conf/airframes/examples/quadshot_asp21_spektrum.xml

@@ -243,7 +243,7 @@
       <define name="USE_SERVOS_7AND8"/>
     </subsystem>
 
-    <subsystem name="telemetry"     type="transparent"/>
+    <subsystem name="telemetry"     type="xbee_api"/>
     <subsystem name="imu"           type="aspirin_v2.1"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization" type="int_quat"/>

conf/flight_plans/TUDELFT/tudelft_delft_basic.xml

@@ -44,7 +44,6 @@
       <stay wp="p1"/>
     </block>
     <block name="go_p2">
-      <call fun="nav_set_heading_deg(90)"/>
       <go wp="p2"/>
       <deroute block="stay_p1"/>
     </block>