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now commiting an airframe that works

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This commit is contained in:
Antoine Drouin
2010-08-24 12:19:28 +00:00
parent d34e7aa88c
commit 4f13ae13a9
2 changed files with 12 additions and 29 deletions
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conf/airframes/UofAdelaide/A1000_LISA.xml
+10 -24
View File
@@ -2,12 +2,12 @@
<airframe name="A1000 LISA">
<servos min="0" neutral="0" max="0xff">
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" min="0" neutral="0" max="255"/>
<servo name="LEFT" no="2" min="0" neutral="0" max="255"/>
<servo name="RIGHT" no="3" min="0" neutral="0" max="255"/>
<servo name="ESC" no="4" min="0" neutral="0" max="255"/>
<servos>
<servo name="FRONT" no="0" min="1000" neutral="1500" max="2000"/>
<servo name="BACK" no="1" min="1000" neutral="1500" max="2000"/>
<servo name="LEFT" no="2" min="1000" neutral="1500" max="2000"/>
<servo name="RIGHT" no="3" min="1000" neutral="1500" max="2000"/>
<servo name="ESC" no="4" min="1000" neutral="1000" max="2000"/>
</servos>
<commands>
@@ -19,26 +19,12 @@
<command_laws>
<set servo="ESC" value="motors_on?ESC_HOVER:ESC_STOPPED"/>
<set servo="FRONT" value=" @PITCH$ + @YAW + @THRUST"/>
<set servo="BACK" value="-@PITCH$ + @YAW + @THRUST"/>
<set servo="LEFT" value=" @ROLL - @YAW + @THRUST"/>
<set servo="RIGHT" value="-@ROLL - @YAW + @THRUST"/>
<set servo="FRONT" value=" @PITCH + @YAW + @THRUST"/>
<set servo="BACK" value="-@PITCH + @YAW + @THRUST"/>
<set servo="LEFT" value=" @ROLL - @YAW + @THRUST"/>
<set servo="RIGHT" value="-@ROLL - @YAW + @THRUST"/>
</command_laws>
<section name="SUPERVISION" prefix="SUPERVISION_">
<define name="MIN_MOTOR" value="3"/>
<define name="MAX_MOTOR" value="200"/>
<define name="TRIM_A" value="0"/>
<define name="TRIM_E" value="0"/>
<define name="TRIM_R" value="0"/>
<define name="NB_MOTOR" value="4"/>
<define name="SCALE" value="256"/>
<define name="ROLL_COEF" value="{ 0 , 0, 256, -256 }"/>
<define name="PITCH_COEF" value="{ 256, -256, 0, 0 }"/>
<define name="YAW_COEF" value="{ 256, 256, -256, -256 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
</section>
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_NEUTRAL" value="32858"/>
sw/airborne/booz/actuators/booz_actuators_heli.c
+2 -5
View File
@@ -38,15 +38,12 @@
#define ESC_HOVER SERVOS_TICS_OF_USEC(1750)
#define Actuator(_x) booz_actuators_pwm_values[_x]
#define ChopServo(x,a,b) Chop(x, a, b)
#define ActuatorsCommit() booz_actuators_pwm_commit()
#define ActuatorsCommit booz_actuators_pwm_commit
int32_t booz_actuators_pwm_values[BOOZ_ACTUATORS_PWM_NB];
void actuators_init(void) {
void actuators_init(void) { booz_actuators_pwm_arch_init(); }
booz_actuators_pwm_arch_init();
}
void actuators_set(bool_t motors_on) {