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[parrot] Fix Bebop 2 rotation of Magneto and tuning

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Freek van Tienen
2015-11-20 18:58:22 +01:00
parent 5d2356b08b
commit 5138012e3f
5 changed files with 30 additions and 44 deletions
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conf/airframes/examples/bebop2_indi.xml
+12 -10
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@@ -10,7 +10,7 @@
<subsystem name="udp"/>
</target>
<!-- Subsystem section -->
<!-- Subsystem section -->
<subsystem name="telemetry" type="transparent_udp"/>
<subsystem name="radio_control" type="datalink"/>
<subsystem name="motor_mixing"/>
@@ -71,12 +71,14 @@
<define name="CALC_AMSL_BARO" value="TRUE"/>
</section>
<include href="conf/airframes/TUDelft/calibrations/bebop7.xml" />
<section name="IMU" prefix="IMU_">
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
<!-- Magneto calibration -->
<define name="MAG_X_NEUTRAL" value="18"/>
<define name="MAG_Y_NEUTRAL" value="46"/>
<define name="MAG_Z_NEUTRAL" value="202"/>
<define name="MAG_X_SENS" value="8.32441255621" integer="16"/>
<define name="MAG_Y_SENS" value="8.25720085664" integer="16"/>
<define name="MAG_Z_SENS" value="8.60009819293" integer="16"/>
</section>
<!-- local magnetic field -->
@@ -188,8 +190,8 @@
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="283"/>
<define name="HOVER_KD" value="82"/>
<define name="HOVER_KP" value="350"/>
<define name="HOVER_KD" value="85"/>
<define name="HOVER_KI" value="20"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
@@ -201,13 +203,13 @@
<define name="REF_MAX_SPEED" value="2" unit="m/s"/>
<!-- Bad weather -->
<!-- define name="MAX_BANK" value="32" unit="deg"/ -->
<define name="PGAIN" value="79"/>
<define name="PGAIN" value="120"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="30"/>
</section>
<section name="NAVIGATION" prefix="NAV_">
<define name="CLIMB_VSPEED" value="2.5"/>
<define name="CLIMB_VSPEED" value="4.5"/>
<define name="DESCEND_VSPEED" value="-1.0"/>
</section>