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Merge branch 'master' into baro_abi

Browse Source 
get latest stuff from master, especially NPS updates
This commit is contained in:
Felix Ruess
2013-09-05 16:19:02 +02:00
parent 2d87a6a5f0 cecb952aca
commit 577df9089e
122 changed files with 2173 additions and 454 deletions
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conf/airframes/CDW/asctec_cdw.xml
+1 -1
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@@ -220,7 +220,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
conf/airframes/CDW/tricopter_cdw.xml
+1 -1
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@@ -209,7 +209,7 @@ LiPo/LiIo-Zellen: 2-3
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
conf/airframes/ENAC/quadrotor/booz2_g1.xml
+1 -1
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@@ -260,7 +260,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<!--define name="INITIAL_CONDITITONS" value="&quot;reset_enac&quot;"/-->
<!--define name="JSBSIM_INIT" value="&quot;reset_enac&quot;"/-->
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
conf/airframes/NoVa_L.xml
+1 -1
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@@ -228,7 +228,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
conf/airframes/TUDelft/IMAV2013/chouchou_lisa_s.xml
+223
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@@ -0,0 +1,223 @@
<!-- this is a quadrocopter frame equiped with Lisa/S 0.1 and generic china pwm motor controllers -->
<!--
Applicable configuration:
airframe="airframes/examples/quadrotor_lisa_s.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml"
-->
<airframe name="quadrotor_lisa_s">
<servos driver="Pwm">
<servo name="RIGHT" no="5" min="1000" neutral="1150" max="1830"/>
<servo name="BACK" no="0" min="1000" neutral="1150" max="1830"/>
<servo name="LEFT" no="1" min="1000" neutral="1150" max="1830"/>
<servo name="FRONT" no="4" min="1000" neutral="1150" max="1830"/>
</servos>
<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<set servo="FRONT" value="motor_mixing.commands[0]"/>
<set servo="BACK" value="motor_mixing.commands[1]"/>
<set servo="LEFT" value="motor_mixing.commands[2]"/>
<set servo="RIGHT" value="motor_mixing.commands[3]"/>
</command_laws>
<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/>
<define name="TRIM_YAW" 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="BODY_TO_IMU_PHI" value="182." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
<define name="ACCEL_X_NEUTRAL" value="0"/>
<define name="ACCEL_Y_NEUTRAL" value="0"/>
<define name="ACCEL_Z_NEUTRAL" value="0"/>
<!-- MAGNETO CALIBRATION DELFT -->
<define name="MAG_X_NEUTRAL" value="302"/>
<define name="MAG_Y_NEUTRAL" value="-69"/>
<define name="MAG_Z_NEUTRAL" value="100"/>
<define name="MAG_X_SENS" value="4.12281780645" integer="16"/>
<define name="MAG_Y_SENS" value="4.2491445745" integer="16"/>
<define name="MAG_Z_SENS" value="4.44132606171" integer="16"/>
<!-- MAGNETO CURRENT CALIBRATION -->
<define name="MAG_X_CURRENT_COEF" value="0.0103422023767"/>
<define name="MAG_Y_CURRENT_COEF" value="0.0084568317783"/>
<define name="MAG_Z_CURRENT_COEF" value="-0.01935617335"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_DIRECT"/>
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="14000"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="4.3" unit="V"/>
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="15000"/>
<define name="SP_MAX_Q" value="15000"/>
<define name="SP_MAX_R" value="15000"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="418"/>
<define name="IGAIN_P" value="301"/>
<define name="IGAIN_Q" value="302"/>
<define name="IGAIN_R" value="303"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="45." unit="deg"/>
<define name="SP_MAX_THETA" value="45." unit="deg"/>
<define name="SP_MAX_PSI" value="45." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="SP_MAX_P" value="90." unit="deg/s"/>
<define name="DEADBAND_R" value="250"/>
<define name="DEADBAND_A" value="250"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="400." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="400." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="90." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="150"/>
<define name="PHI_DGAIN" value="100"/>
<define name="PHI_IGAIN" value="20"/>
<define name="THETA_PGAIN" value="150"/>
<define name="THETA_DGAIN" value="100"/>
<define name="THETA_IGAIN" value="20"/>
<define name="PSI_PGAIN" value="500"/>
<define name="PSI_DGAIN" value="200"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value="0"/>
<define name="THETA_DDGAIN" value="0"/>
<define name="PSI_DDGAIN" value="0"/>
<define name="PHI_AGAIN" value="0"/>
<define name="THETA_AGAIN" value="0"/>
<define name="PSI_AGAIN" value="0"/>
</section>
<section name="INS" prefix="INS_">
<define name="BARO_SENS" value="22.4" integer="16"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="400"/>
<define name="HOVER_KD" value="350"/>
<define name="HOVER_KI" value="144"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value="160000"/>
<define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.9"/>
</section>
<section name="AHRS" prefix="AHRS_">
<define name="H_X" value=" 0.47577"/>
<define name="H_Y" value=" 0.11811"/>
<define name="H_Z" value=" 0.87161"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="50"/>
<define name="IGAIN" value="0"/>
</section>
<section name="MISC">
<define name="FACE_REINJ_1" value="1024"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
<modules main_freq="512">
<load name="gps_ubx_ucenter.xml"/>
</modules>
<firmware name="rotorcraft">
<target name="ap" board="lisa_s_0.1">
<subsystem name="radio_control" type="superbitrf_rc">
<define name="RADIO_TRANSMITTER_ID" value="2008496626"/> <!-- TUDelft Dx6i: TX 4 -->
<define name="RADIO_TRANSMITTER_CHAN" value="6"/>
<define name="RADIO_TRANSMITTER_PROTOCOL" value="0x01"/>
</subsystem>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
<configure name="LISA_S_BARO" value="BARO_MS5611_SPI"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
</target>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<define name="SERVO_HZ" value="400"/>
<define name="USE_SERVOS_1AND2"/>
</subsystem>
<subsystem name="telemetry" type="superbitrf"/>
<subsystem name="imu" type="lisa_s_v0.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins"/>
</firmware>
</airframe>
conf/airframes/TUDelft/IMAV2013/conf.xml
+46 -39
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@@ -1,45 +1,52 @@
<?xml version="1.0"?>
<conf>
<aircraft
name="MavRick_LisaS"
ac_id="1"
airframe="airframes/TUDelft/IMAV2013/mavrick_lisa_s.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_fixedwing_imu.xml"
flight_plan="flight_plans/basic.xml"
settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/estimation/ins_neutrals.xml"
gui_color="white"
/>
name="ChouChou_LisaS"
ac_id="5"
airframe="airframes/TUDelft/IMAV2013/chouchou_lisa_s.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings=" settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml settings/control/rotorcraft_guidance.xml"
gui_color="blue"
/>
<aircraft
name="Quadrotor_LisaS"
ac_id="2"
airframe="airframes/examples/quadrotor_lisa_s.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml"
gui_color="blue"
/>
name="MavRick_LisaS"
ac_id="1"
airframe="airframes/TUDelft/IMAV2013/mavrick_lisa_s.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_fixedwing_imu.xml"
flight_plan="flight_plans/basic.xml"
settings=" settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/estimation/ins_neutrals.xml"
gui_color="white"
/>
<aircraft
name="Walkera_V120D02S"
ac_id="3"
airframe="airframes/TUDelft/IMAV2013/walkera_V120D02S.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml"
gui_color="green"
/>
name="Quadrotor_LisaS"
ac_id="2"
airframe="airframes/examples/quadrotor_lisa_s.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml"
gui_color="blue"
/>
<aircraft
name="Walkera_GeniusV1"
ac_id="4"
airframe="airframes/TUDelft/IMAV2013/walkera_genius_v1.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml"
gui_color="orange"
/>
name="Walkera_GeniusV1"
ac_id="4"
airframe="airframes/TUDelft/IMAV2013/walkera_genius_v1.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml"
gui_color="orange"
/>
<aircraft
name="Walkera_V120D02S"
ac_id="3"
airframe="airframes/TUDelft/IMAV2013/walkera_V120D02S.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml"
gui_color="green"
/>
</conf>
conf/airframes/TUDelft/IMAV2013/mavrick_lisa_s.xml
+13 -15
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@@ -23,7 +23,7 @@
</subsystem>
<!-- Communication -->
<subsystem name="telemetry" type="transparent"/>
<subsystem name="telemetry" type="superbitrf"/>
<!-- Actuators are automatically chosen according to board-->
<subsystem name="imu" type="lisa_s_v0.1"/>
@@ -42,8 +42,8 @@
<!-- commands section -->
<servos>
<servo name="MOTOR" no="1" min="1040" neutral="1040" max="2000"/>
<servo name="AILEVON_LEFT" no="0" min="1900" neutral="1543" max="1100"/>
<servo name="AILEVON_RIGHT" no="2" min="1100" neutral="1561" max="1900"/>
<servo name="AILEVON_LEFT" no="0" min="1200" neutral="1500" max="1800"/>
<servo name="AILEVON_RIGHT" no="2" min="1800" neutral="1500" max="1200"/>
</servos>
<commands>
@@ -86,17 +86,12 @@
<define name="ACCEL_Z_NEUTRAL" value="0"/>
<!-- From delft MAVLab -->
<define name="MAG_X_NEUTRAL" value="396"/>
<define name="MAG_Y_NEUTRAL" value="-260"/>
<define name="MAG_Z_NEUTRAL" value="-91"/>
<define name="MAG_X_SENS" value="3.71635905504" integer="16"/>
<define name="MAG_Y_SENS" value="3.5526454063" integer="16"/>
<define name="MAG_Z_SENS" value="3.52339566014" integer="16"/>
<!-- Current correction -->
<define name="MAG_X_CURRENT_COEF" value="-0.390312445109"/>
<define name="MAG_Y_CURRENT_COEF" value="-0.068976232866"/>
<define name="MAG_Z_CURRENT_COEF" value="-0.181415585657"/>
<define name="MAG_X_NEUTRAL" value="847"/>
<define name="MAG_Y_NEUTRAL" value="-415"/>
<define name="MAG_Z_NEUTRAL" value="-264"/>
<define name="MAG_X_SENS" value="2.43585513661" integer="16"/>
<define name="MAG_Y_SENS" value="3.71461295002" integer="16"/>
<define name="MAG_Z_SENS" value="3.4639003008" integer="16"/>
</section>
@@ -107,7 +102,10 @@
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="3.2" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="3.3" unit="V"/>
<define name="LOW_BAT_LEVEL" value="3.4" unit="V"/>
<define name="MAX_BAT_LEVEL" value="3.7" unit="V"/>
</section>
<section name="MISC">
conf/airframes/TUDelft/IMAV2013/quadrotor_lisa_s.xml
+3 -3
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@@ -22,7 +22,7 @@
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="1000"/>
</commands>
<command_laws>
@@ -76,7 +76,7 @@
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="14000"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="4.3" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="3.0" unit="V"/>
</section>
@@ -184,7 +184,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
conf/airframes/TUDelft/IMAV2013/walkera_genius_v1.xml
+12 -15
View File
@@ -41,7 +41,7 @@
</command_laws>
<section name="IMU" prefix="IMU_">
<define name="BODY_TO_IMU_PHI" value="190." unit="deg"/>
<define name="BODY_TO_IMU_PHI" value="185." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
@@ -71,7 +71,7 @@
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="3700"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="4.3" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="3.4" unit="V"/>
</section>
@@ -90,27 +90,25 @@
<!-- setpoints -->
<define name="SP_MAX_PHI" value="45." unit="deg"/>
<define name="SP_MAX_THETA" value="45." unit="deg"/>
<define name="SP_MAX_PSI" value="45." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="SP_MAX_P" value="90." unit="deg/s"/>
<define name="DEADBAND_R" value="250"/>
<define name="DEADBAND_A" value="250"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
<define name="REF_OMEGA_P" value="3000" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="400." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
<define name="REF_MAX_P" value="300." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
<define name="REF_OMEGA_Q" value="3000" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="400." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<define name="REF_MAX_Q" value="300." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
<define name="REF_OMEGA_R" value="3000" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="90." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<define name="REF_MAX_R" value="300." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(7000.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="3052"/>
@@ -178,10 +176,9 @@
<firmware name="rotorcraft">
<target name="ap" board="lisa_s_0.1">
<subsystem name="radio_control" type="superbitrf_rc">
<define name="RADIO_TRANSMITTER_ID" value="626371286"/> <!-- TUDelft Dx6i: TX 4 -->
<define name="RADIO_TRANSMITTER_ID" value="2008496626"/> <!-- TUDelft Dx6i: TX 4 -->
<define name="RADIO_TRANSMITTER_CHAN" value="6"/>
<define name="RADIO_TRANSMITTER_PROTOCOL" value="0x01"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_FLAP"/>
</subsystem>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml
+1 -1
View File
@@ -253,7 +253,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
</section>
conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
+1 -1
View File
@@ -253,7 +253,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
conf/airframes/ardrone2_raw.xml
+2 -1
View File
@@ -10,6 +10,7 @@
<define name="AHRS_PROPAGATE_FREQUENCY" value="200"/>
<define name="INS_PROPAGATE_FREQUENCY" value="200"/>
<define name="USE_BAROMETER"/>
<define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
<subsystem name="telemetry" type="udp"/>
<subsystem name="radio_control" type="datalink"/>
</target>
@@ -202,7 +203,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;top_left_motor&quot;, &quot;top_right_motor&quot;, &quot;bottom_right_motor&quot;, &quot;bottom_left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
</section>
conf/airframes/ardrone2_sdk.xml
+1
View File
@@ -6,6 +6,7 @@
<target name="ap" board="ardrone2_sdk">
<define name="USE_INS_NAV_INIT" />
<define name="ROTORCRAFT_COMMANDS_YAW_ALWAYS_ENABLED"/>
<!-- <define name="ARDRONE2_DEBUG" /> -->
<!-- <define name="USE_GPS_HEIGHT" /> -->
<!-- <define name="ARDRONE_FLIGHT_INDOOR" /> -->
<!-- <define name="ARDRONE_WITHOUT_SHELL" /> -->
conf/airframes/booz2_flixr.xml
+1 -1
View File
@@ -232,7 +232,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}" />
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;" />
<define name="JSBSIM_INIT" value="&quot;reset00&quot;" />
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;" />
</section>
conf/airframes/esden/cocto_lm2a2.xml
+1 -1
View File
@@ -207,7 +207,7 @@ B2L -> CW
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
conf/airframes/esden/gain_scheduling_example.xml
+1 -1
View File
@@ -189,7 +189,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
conf/airframes/esden/hexy_ll11a2pwm.xml
+1 -1
View File
@@ -205,7 +205,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
conf/airframes/esden/hexy_lm2a2pwm.xml
+1 -1
View File
@@ -166,7 +166,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
conf/airframes/esden/lisa2_hex.xml
+1 -1
View File
@@ -177,7 +177,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
conf/airframes/esden/qs_asp22.xml
+1 -1
View File
@@ -200,7 +200,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
conf/airframes/esden/quady_ll11a2pwm.xml
+1 -1
View File
@@ -201,7 +201,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
conf/airframes/esden/quady_lm1a1pwm.xml
+1 -1
View File
@@ -162,7 +162,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
conf/airframes/esden/quady_lm2a2pwm.xml
+1 -1
View File
@@ -164,7 +164,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
conf/airframes/esden/quady_lm2a2pwmppm.xml
+1 -1
View File
@@ -162,7 +162,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
conf/airframes/esden/quady_ls01pwm.xml
+1 -1
View File
@@ -164,7 +164,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
conf/airframes/examples/MentorEnergy.xml
+12
View File
@@ -21,6 +21,11 @@
</target>
<target name="sim" board="pc"/>
<target name="nps" board="pc">
<!-- Note NPS needs the ppm type radio_control subsystem -->
<subsystem name="fdm" type="jsbsim"/>
</target>
<define name="USE_AIRSPEED"/>
<define name="AGR_CLIMB"/>
<define name="STRONG_WIND"/>
@@ -251,4 +256,11 @@
<define name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="JSBSIM_MODEL" value="&quot;LisaAspirin2&quot;"/>
<define name="ACTUATOR_NAMES" value="{&quot;throttle-cmd-norm&quot;, &quot;aileron-cmd-norm&quot;, &quot;elevator-cmd-norm&quot;, &quot;rudder-cmd-norm&quot;}"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
<define name="JS_MODE_AXIS" value="4"/>
</section>
</airframe>
conf/airframes/examples/booz2.xml
+1 -1
View File
@@ -194,7 +194,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
conf/airframes/examples/krooz_sd/krooz_sd_hexa_mkk.xml
+1 -1
View File
@@ -226,7 +226,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
</section>
conf/airframes/examples/krooz_sd/krooz_sd_okto_mkk.xml
+1 -1
View File
@@ -229,7 +229,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
</section>
conf/airframes/examples/krooz_sd/krooz_sd_quad_mkk.xml
+1 -1
View File
@@ -218,7 +218,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
</section>
conf/airframes/examples/krooz_sd/krooz_sd_quad_pwm.xml
+1 -1
View File
@@ -214,7 +214,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
</section>
conf/airframes/examples/lisa_asctec.xml
+1 -1
View File
@@ -179,7 +179,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
+3 -1
View File
@@ -38,6 +38,8 @@
<define name="AHRS_GRAVITY_UPDATE_NORM_HEURISTIC" value="TRUE"/>
</subsystem>
<subsystem name="ins"/>
<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
</firmware>
<servos driver="Pwm">
@@ -200,7 +202,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
<define name="JS_MODE_AXIS" value="4"/>
conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum_geo_mag.xml
+1 -1
View File
@@ -204,7 +204,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
</section>
conf/airframes/examples/quadrotor_lisa_m_mkk.xml
+1 -1
View File
@@ -193,7 +193,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
</section>
conf/airframes/examples/quadrotor_lisa_s.xml
+1 -2
View File
@@ -182,7 +182,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
@@ -196,7 +196,6 @@
<define name="RADIO_TRANSMITTER_ID" value="2008496626"/> <!-- TUDelft Dx6i: TX 4 -->
<define name="RADIO_TRANSMITTER_CHAN" value="6"/>
<define name="RADIO_TRANSMITTER_PROTOCOL" value="0x01"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_FLAP"/>
</subsystem>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
conf/airframes/examples/quadrotor_mlkf.xml
+1 -1
View File
@@ -204,7 +204,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
<define name="JS_MODE_AXIS" value="4"/>
conf/airframes/examples/quadrotor_navgo.xml
+1 -1
View File
@@ -265,7 +265,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
</section>
conf/airframes/examples/quadrotor_px4fmu.xml
+1 -1
View File
@@ -198,7 +198,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
</section>
conf/airframes/examples/quadshot_asp21_spektrum.xml
+1 -1
View File
@@ -232,7 +232,7 @@ More information on the Quadshot can be found at transition-robotics.com -->
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
conf/airframes/fraser_lisa_m_rotorcraft.xml
+1 -1
View File
@@ -238,7 +238,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
<define name="JS_MODE_AXIS" value="4"/>
conf/airframes/obsolete/ENAC/g1_vision.xml
+1 -1
View File
@@ -194,7 +194,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<!--define name="INITIAL_CONDITITONS" value="&quot;reset_enac&quot;"/-->
<!--define name="JSBSIM_INIT" value="&quot;reset_enac&quot;"/-->
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
conf/airframes/obsolete/Poine/booz2_a1.xml
+1 -1
View File
@@ -189,7 +189,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
conf/airframes/obsolete/Poine/booz2_a7.xml
+1 -1
View File
@@ -201,7 +201,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml
+1 -1
View File
@@ -263,7 +263,7 @@ second attempt
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml
+1 -1
View File
@@ -216,7 +216,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
conf/airframes/obsolete/UofAdelaide/booz2_a1000.xml
+1 -1
View File
@@ -265,7 +265,7 @@ second attempt
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
conf/airframes/obsolete/booz2_a1p.xml
+1 -1
View File
@@ -193,7 +193,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1p.h&quot;"/>
</section>
conf/airframes/obsolete/booz2_s1.xml
+1 -1
View File
@@ -180,7 +180,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
conf/airframes/obsolete/example_heli_lisam.xml
+1 -1
View File
@@ -217,7 +217,7 @@ AP_MODE_NAV
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>

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