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Merge remote-tracking branch 'paparazzi/4.0_beta' into telemetry_settings

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This commit is contained in:
Gautier Hattenberger
2012-02-23 15:50:18 +01:00
parent 9ea9257c91 692124e28c
commit 5f55fadc58
345 changed files with 5866 additions and 5076 deletions
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.gitignore
+5
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@@ -165,3 +165,8 @@
/sw/airborne/test/test_algebra
/sw/airborne/test/test_matrix
/sw/airborne/test/test_att
/sw/airborne/test/ahrs/run_ahrs_on_synth
# Mac OS X
.DS_Store
Makefile
+1 -1
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@@ -266,7 +266,7 @@ test_all_example_airframes:
$(MAKE) AIRCRAFT=EasyStar_ETS clean_ac ap sim
test_all_example_airframes2:
for ap in `grep name conf/conf.xml.example | sed -e 's/.*name=\"//' | sed -e 's/"//'`; do echo "Making $$ap"; make -C ./ AIRCRAFT=$$ap clean_ac ap.compile; done
for ap in `grep name conf/conf.xml.example | sed -e 's/.*name=\"//' | sed -e 's/"//'`; do echo "Making $$ap"; make -C ./ AIRCRAFT=$$ap clean_ac ap.compile || exit 1; done
commands: paparazzi sw/simulator/launchsitl
conf/Makefile.sim
+1 -6
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@@ -56,15 +56,10 @@ CFLAGS += $(INCLUDES)
CFLAGS += $($(TARGET).CFLAGS)
CFLAGS += $(LOCAL_CFLAGS)
CFLAGS += -O2
CFLAGS += -std=gnu99
# meschach prototypes trigger numerous warnings
ifneq ($(SIM_TYPE),BOOZ)
ifneq ($(SIM_TYPE),JSBSIM)
CFLAGS += -Wstrict-prototypes
CFLAGS += -std=gnu99
endif
endif
LDFLAGS = -lm
conf/Makefile.stm32
+16 -2
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@@ -52,6 +52,7 @@ CP = $(GCC_BIN_PREFIX)-objcopy
DMP = $(GCC_BIN_PREFIX)-objdump
NM = $(GCC_BIN_PREFIX)-nm
SIZE = $(GCC_BIN_PREFIX)-size
GDB = $(GCC_BIN_PREFIX)-gdb
RM = rm
# If we can't find the toolchain then try picking up the compilers from the path
@@ -62,8 +63,10 @@ CP = $(shell which arm-none-eabi-objcopy)
DMP = $(shell which arm-none-eabi-objdump)
NM = $(shell which arm-none-eabi-nm)
SIZE = $(shell which arm-none-eabi-size)
GDB = $(shell which arm-none-eabi-gdb)
RM = rm
GCC_LIB_DIR=$(shell dirname `which arm-none-eabi-gcc`)/../arm-none-eabi/lib
TOOLCHAIN_DIR=$(shell dirname `which arm-none-eabi-gcc`)
GCC_LIB_DIR=$(TOOLCHAIN_DIR)/../arm-none-eabi/lib
endif
# Detect if we are using the new libopencm3 or the old libopenstm32
@@ -250,7 +253,8 @@ ifeq ($(FLASH_MODE),SERIAL)
upload: $(OBJDIR)/$(TARGET).bin
$(LOADER) -p /dev/ttyUSB0 -b 115200 -e -w -v $^
else ifeq ($(FLASH_MODE),JTAG)
upload: $(OBJDIR)/$(TARGET).elf
ifeq ($(BMP_PORT),)
upload: $(OBJDIR)/$(TARGET).elf
@echo "Using OOCD = $(OOCD)"
@echo " OOCD\t$<"
$(Q)$(OOCD) -f interface/$(OOCD_INTERFACE).cfg \
@@ -263,6 +267,16 @@ upload: $(OBJDIR)/$(TARGET).elf
-c reset \
-c shutdown
else
upload: $(OBJDIR)/$(TARGET).elf
@echo "Using Black Magic Probe"
@echo "Using GDB = $(GDB)"
@echo " BMP\t$<"
$(Q)$(GDB) --batch \
-ex 'target extended-remote $(BMP_PORT)' \
-x $(TOOLCHAIN_DIR)/arm-none-eabi/share/libopencm3/scripts/black_magic_probe_flash.scr \
$<
endif
else
upload:
@echo unknown flash_mode $(FLASH_MODE)
endif
conf/airframes/CDW/ChimuLisaFw.xml
+6 -6
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@@ -66,7 +66,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.03"/>
<define name="ALTITUDE_PGAIN" value="0.03"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -77,7 +77,7 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
@@ -85,21 +85,21 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.4"/>
<define name="COURSE_PGAIN" value="1.4"/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-12000."/>
<define name="PITCH_PGAIN" value="12000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/>
<define name="ROLL_SLEW" value="0.1"/>
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/>
<define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="1500"/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
conf/airframes/CDW/ChimuTinyFw.xml
+6 -6
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@@ -90,7 +90,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.03"/>
<define name="ALTITUDE_PGAIN" value="0.03"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -101,7 +101,7 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
@@ -109,7 +109,7 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.20000004768"/>
<define name="COURSE_PGAIN" value="1.20000004768"/>
<define name="COURSE_DGAIN" value="0.3"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
@@ -117,13 +117,13 @@
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-12000."/>
<define name="PITCH_PGAIN" value="12000."/>
<define name="PITCH_DGAIN" value="0"/>
<define name="ELEVATOR_OF_ROLL" value="1000."/>
<define name="ROLL_ATTITUDE_GAIN" value="-11500"/>
<define name="ROLL_RATE_GAIN" value="-600."/>
<define name="ROLL_ATTITUDE_GAIN" value="11500"/>
<define name="ROLL_RATE_GAIN" value="600."/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
conf/airframes/CDW/ChimuTinyFwSpi.xml
+6 -6
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@@ -90,7 +90,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.03"/>
<define name="ALTITUDE_PGAIN" value="0.03"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -101,7 +101,7 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
@@ -109,7 +109,7 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.20000004768"/>
<define name="COURSE_PGAIN" value="1.20000004768"/>
<define name="COURSE_DGAIN" value="0.3"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
@@ -117,13 +117,13 @@
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-12000."/>
<define name="PITCH_PGAIN" value="12000."/>
<define name="PITCH_DGAIN" value="0"/>
<define name="ELEVATOR_OF_ROLL" value="1000."/>
<define name="ROLL_ATTITUDE_GAIN" value="-11500"/>
<define name="ROLL_RATE_GAIN" value="-600."/>
<define name="ROLL_ATTITUDE_GAIN" value="11500"/>
<define name="ROLL_RATE_GAIN" value="600."/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
conf/airframes/CDW/LisaAspirin2.xml
+249
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@@ -0,0 +1,249 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
Lisa + Aspirin v2 using SPI only
-->
<airframe name="LisaAspirin2">
<servos>
<servo name="THROTTLE" no="2" min="1000" neutral="1000" max="2000"/>
<servo name="AILEVON_LEFT" no="1" min="1000" neutral="1500" max="2000"/>
<servo name="AILEVON_RIGHT" no="0" min="2000" neutral="1500" max="1000"/>
<servo name="ELEVATOR" no="3" min="2000" neutral="1500" max="1000"/>
<servo name="RUDDER" no="4" min="1100" neutral="1500" max="1900"/>
</servos>
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="BRAKE" failsafe_value="0"/> <!-- both elerons up as butterfly brake ? -->
</commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="BRAKE" value="@YAW"/>
</rc_commands>
<command_laws>
<set servo="AILEVON_LEFT" value="@ROLL + @PITCH"/>
<set servo="AILEVON_RIGHT" value="@ROLL - @PITCH"/>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="ELEVATOR" value="@PITCH"/>
</command_laws>
<!-- Local magnetic field -->
<section name="AHRS" prefix="AHRS_" >
<define name="H_X" value="0.51562740288882" />
<define name="H_Y" value="-0.05707735220832" />
<define name="H_Z" value="0.85490967783446" />
</section>
<section name="IMU" prefix="IMU_">
<!-- Calibration Neutral -->
<define name="GYRO_P_NEUTRAL" value="0"/>
<define name="GYRO_Q_NEUTRAL" value="0"/>
<define name="GYRO_R_NEUTRAL" value="0"/>
<!-- SENS = 16.4 LSB/(deg/sec) * 57.6 deg/rad = 939.650 LSB/rad/sec / 12bit FRAC: 4096 / 939.65 -->
<define name="GYRO_P_SENS" value="4.359" integer="16"/>
<define name="GYRO_Q_SENS" value="4.359" integer="16"/>
<define name="GYRO_R_SENS" value="4.359" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="0"/>
<define name="ACCEL_Y_NEUTRAL" value="0"/>
<define name="ACCEL_Z_NEUTRAL" value="0"/>
<!-- SENS = 2048 LSB/g / 9.81 ms2/g = 208.766564729 LSB/ms2 / 10bit FRAC: 1024 / 208.7665 -->
<define name="ACCEL_X_SENS" value="9.81" integer="16"/>
<define name="ACCEL_Y_SENS" value="9.81" integer="16"/>
<define name="ACCEL_Z_SENS" value="9.81" integer="16"/>
<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>
<define name="MAG_X_SENS" value="1" integer="16"/>
<define name="MAG_Y_SENS" value="1" integer="16"/>
<define name="MAG_Z_SENS" value="1" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="0"/>
<define name="BODY_TO_IMU_THETA" value="0"/>
<define name="BODY_TO_IMU_PSI" value="0"/>
</section>
<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
</section>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.7"/>
<define name="MAX_PITCH" value="0.7"/>
</section>
<section name="BAT">
<define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/>
<define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/>
<define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="GLIDE_AIRSPEED" value="10"/>
<define name="GLIDE_VSPEED" value="3."/>
<define name="GLIDE_PITCH" value="45" unit="deg"/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.03"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.20000004768"/>
<define name="COURSE_DGAIN" value="0.3"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
<define name="ROLL_MAX_SETPOINT" value="0.75" unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
<define name="PITCH_PGAIN" value="-12000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1000."/>
<define name="ROLL_SLEW" value="1."/>
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
<define name="ROLL_RATE_GAIN" value="0."/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
<define name="CLIMB_THROTTLE" value="1.00"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive Decent -->
<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
<define name="DESCENT_NAV_RATIO" value="1.0"/>
</section>
<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DEFAULT_THROTTLE" value="0.35" unit="%"/>
<define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
<define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
<define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
</section>
<section name="DIGITAL_CAMERA" prefix="DC_">
<define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
<define name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/>
</section>
<modules>
<!--
<load name="light.xml">
<define name="LIGHT_LED_STROBE" value="2"/>
<define name="LIGHT_LED_NAV" value="3"/>
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
<define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
</load>
<load name="digital_cam_i2c.xml"/> -->
<!-- <load name="ins_ppzuavimu.xml" /> -->
<!--
<load name="digital_cam.xml" >
<define name="DC_SHUTTER_LED" value="3"/>
</load>
-->
</modules>
<firmware name="fixedwing">
<target name="ap" board="lisa_m_1.0">
<define name="STRONG_WIND"/>
<define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/>
<configure name="PERIODIC_FREQUENCY" value="120"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP" />
<configure name="AHRS_ALIGNER_LED" value="1"/>
<configure name="CPU_LED" value="1"/>
</target>
<target name="sim" board="pc"/>
<define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<!-- Sensors -->
<!--
<subsystem name="ahrs" type="int_cmpl_quat">
<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" />
</subsystem>
-->
<subsystem name="imu" type="aspirin_v2.0"/>
<subsystem name="ahrs" type="float_dcm">
<!-- <define name="USE_MAGNETOMETER" /> -->
</subsystem>
<subsystem name="radio_control" type="ppm"/>
<!-- Communication -->
<subsystem name="telemetry" type="transparent">
<configure name="MODEM_BAUD" value="B57600"/>
</subsystem>
<!-- Actuators -->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="navigation"/>
<subsystem name="gps" type="ublox_utm"/>
</firmware>
</airframe>
conf/airframes/CDW/debug_i2c.xml
+30 -30
View File
@@ -84,9 +84,9 @@
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
@@ -115,17 +115,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- gaui props
<define name="PHI_PGAIN" value="-900"/>
<define name="PHI_DGAIN" value="-200"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="900"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-900"/>
<define name="THETA_DGAIN" value="-200"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="900"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-900"/>
<define name="PSI_DGAIN" value="-200"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="900"/>
<define name="PSI_DGAIN" value="200"/>
<define name="PSI_IGAIN" value="10"/>
<define name="PHI_DDGAIN" value=" 200"/>
<define name="THETA_DDGAIN" value=" 200"/>
@@ -133,17 +133,17 @@
-->
<!-- feedback -->
<define name="PHI_PGAIN" value="-2000"/>
<define name="PHI_DGAIN" value="-400"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="2000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-2000"/>
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="2000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-2000"/>
<define name="PSI_DGAIN" value="-400"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="2000"/>
<define name="PSI_DGAIN" value="400"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
@@ -172,12 +172,12 @@
<define name="MAX_SUM_ERR" value="2000000"/>
<!--
<define name="HOVER_KP" value="-500"/>
<define name="HOVER_KD" value="-200"/>
<define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="200"/>
<define name="HOVER_KI" value="0"/>
-->
<define name="HOVER_KP" value="-150"/>
<define name="HOVER_KD" value="-80"/>
<define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
@@ -189,10 +189,10 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-50"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-15"/>
<define name="NGAIN" value="-0"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="15"/>
<define name="NGAIN" value="0"/>
</section>
<section name="MISC">
@@ -236,7 +236,7 @@
<subsystem name="ins" type="hff"/>
</firmware>
<firmware name="lisa_l_test_progs">
<firmware name="lisa_test_progs">
<target name="test_led" board="lisa_l_1.0"/>
<target name="test_uart" board="lisa_l_1.0"/>
<target name="test_servos" board="lisa_l_1.0"/>
conf/airframes/CDW/yapa3_aspirin2.xml
+274
View File
@@ -0,0 +1,274 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
YAPA + XSens + XBee
-->
<airframe name="Yapa v1">
<servos>
<servo name="THROTTLE" no="9" min="1000" neutral="1000" max="2000"/>
<servo name="AILERON_LEFT" no="8" min="1000" neutral="1500" max="2000"/>
<servo name="AILERON_RIGHT" no="7" min="2000" neutral="1500" max="1000"/>
<servo name="ELEVATOR" no="6" min="2000" neutral="1500" max="1000"/>
<servo name="RUDDER" no="5" min="1100" neutral="1500" max="1900"/>
</servos>
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="BRAKE" failsafe_value="0"/> <!-- both elerons up as butterfly brake ? -->
</commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="BRAKE" value="@YAW"/>
</rc_commands>
<command_laws>
<set servo="AILERON_LEFT" value="@ROLL"/>
<set servo="AILERON_RIGHT" value="@ROLL"/>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="ELEVATOR" value="@PITCH"/>
</command_laws>
<!-- Local magnetic field -->
<section name="AHRS" prefix="AHRS_" >
<define name="H_X" value="0.51562740288882" />
<define name="H_Y" value="-0.05707735220832" />
<define name="H_Z" value="0.85490967783446" />
</section>
<section name="IMU" prefix="IMU_">
<!-- Calibration Neutral -->
<define name="GYRO_P_NEUTRAL" value="0"/>
<define name="GYRO_Q_NEUTRAL" value="0"/>
<define name="GYRO_R_NEUTRAL" value="0"/>
<!-- SENS = 16.4 LSB/(deg/sec) * 57.6 deg/rad = 939.650 LSB/rad/sec / 12bit FRAC: 4096 / 939.65 -->
<define name="GYRO_P_SENS" value="4.359" integer="16"/>
<define name="GYRO_Q_SENS" value="4.359" integer="16"/>
<define name="GYRO_R_SENS" value="4.359" integer="16"/>
<define name="GYRO_P_Q" value="0."/>
<define name="GYRO_P_R" value="0"/>
<define name="GYRO_Q_P" value="0."/>
<define name="GYRO_Q_R" value="0."/>
<define name="GYRO_R_P" value="0."/>
<define name="GYRO_R_Q" value="0."/>
<define name="GYRO_P_SIGN" value="1"/>
<define name="GYRO_Q_SIGN" value="1"/>
<define name="GYRO_R_SIGN" value="1"/>
<define name="ACCEL_X_NEUTRAL" value="-40"/>
<define name="ACCEL_Y_NEUTRAL" value="-15"/>
<define name="ACCEL_Z_NEUTRAL" value="375"/>
<!-- SENS = 2048 LSB/g / 9.81 ms2/g = 208.766564729 LSB/ms2 / 10bit FRAC: 1024 / 208.7665 -->
<define name="ACCEL_X_SENS" value="9.81" integer="16"/>
<define name="ACCEL_Y_SENS" value="9.81" integer="16"/>
<define name="ACCEL_Z_SENS" value="9.81" integer="16"/>
<!--
<define name="ACCEL_X_SENS" value="4.905" integer="16"/>
<define name="ACCEL_Y_SENS" value="4.905" integer="16"/>
<define name="ACCEL_Z_SENS" value="4.905" integer="16"/>
-->
<define name="ACCEL_X_SIGN" value="1"/>
<define name="ACCEL_Y_SIGN" value="1"/>
<define name="ACCEL_Z_SIGN" value="1"/>
<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>
<define name="MAG_X_SENS" value="1" integer="16"/>
<define name="MAG_Y_SENS" value="1" integer="16"/>
<define name="MAG_Z_SENS" value="1" integer="16"/>
<define name="MAG_X_SIGN" value="1"/>
<define name="MAG_Y_SIGN" value="1"/>
<define name="MAG_Z_SIGN" value="1"/>
<define name="BODY_TO_IMU_PHI" value="0"/>
<define name="BODY_TO_IMU_THETA" value="0"/>
<define name="BODY_TO_IMU_PSI" value="0"/>
</section>
<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
</section>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.7"/>
<define name="MAX_PITCH" value="0.7"/>
</section>
<section name="BAT">
<define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/>
<define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/>
<define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="GLIDE_AIRSPEED" value="10"/>
<define name="GLIDE_VSPEED" value="3."/>
<define name="GLIDE_PITCH" value="45" unit="deg"/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.03"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.20000004768"/>
<define name="COURSE_DGAIN" value="0.3"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
<define name="ROLL_MAX_SETPOINT" value="0.75" unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
<define name="PITCH_PGAIN" value="-12000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1000."/>
<define name="ROLL_SLEW" value="1."/>
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
<define name="ROLL_RATE_GAIN" value="0."/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
<define name="CLIMB_THROTTLE" value="1.00"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive Decent -->
<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
<define name="DESCENT_NAV_RATIO" value="1.0"/>
</section>
<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DEFAULT_THROTTLE" value="0.35" unit="%"/>
<define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
<define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
<define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
</section>
<section name="DIGITAL_CAMERA" prefix="DC_">
<define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
<define name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/>
</section>
<modules>
<!--
<load name="light.xml">
<define name="LIGHT_LED_STROBE" value="3"/>
<define name="LIGHT_LED_NAV" value="2"/>
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
<define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
</load>
-->
<!-- <load name="digital_cam_i2c.xml"/> -->
<!-- <load name="ins_ppzuavimu.xml" /> -->
<!--
<load name="digital_cam.xml" >
<define name="DC_SHUTTER_LED" value="3"/>
</load>
-->
</modules>
<firmware name="fixedwing">
<target name="ap" board="tiny_2.11">
<define name="STRONG_WIND"/>
<define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/>
<configure name="PERIODIC_FREQUENCY" value="120"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP" />
<configure name="AHRS_ALIGNER_LED" value="3"/>
<configure name="CPU_LED" value="3"/>
</target>
<target name="sim" board="pc"/>
<define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<!-- Sensors -->
<!--
<subsystem name="ahrs" type="int_cmpl_quat">
<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" />
</subsystem>
<subsystem name="imu" type="aspirin_i2c"/>
-->
<subsystem name="imu" type="aspirin2_i2c"/>
<subsystem name="ahrs" type="float_dcm">
<!-- <define name="USE_MAGNETOMETER" /> -->
</subsystem>
<subsystem name="radio_control" type="ppm"/>
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B9600"/>
</subsystem>
<!-- Actuators -->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="navigation"/>
<subsystem name="gps" type="ublox_utm"/>
</firmware>
</airframe>
conf/airframes/ENAC/fixed-wing/firestorm.xml
+9 -9
View File
@@ -149,7 +149,7 @@
<!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ -->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.04"/>
<define name="ALTITUDE_PGAIN" value="0.04"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -160,12 +160,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-2500"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.05" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.007"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.007"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.067"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.11"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
<define name="AUTO_PITCH_PGAIN" value="0.05"/>
<define name="AUTO_PITCH_IGAIN" value="0.075"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -175,23 +175,23 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.9"/>
<define name="COURSE_PGAIN" value="0.9"/>
<define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-14255.3193359"/>
<define name="PITCH_PGAIN" value="14255.3193359"/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="2000."/>
<define name="ROLL_ATTITUDE_GAIN" value="-2600"/>
<define name="ROLL_RATE_GAIN" value="-850"/>
<define name="ROLL_ATTITUDE_GAIN" value="2600"/>
<define name="ROLL_RATE_GAIN" value="850"/>
<define name="ROLL_KFF" value="-500"/>
<define name="ROLL_IGAIN" value="-00"/>
<define name="PITCH_IGAIN" value="-500"/>
<define name="ROLL_IGAIN" value="00"/>
<define name="PITCH_IGAIN" value="500"/>
</section>
<section name="NAV">
conf/airframes/ENAC/fixed-wing/funjet2.xml
+7 -7
View File
@@ -144,7 +144,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/-->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
<define name="ALTITUDE_PGAIN" value="0.06"/> <!-- -0.024 -->
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
@@ -155,12 +155,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.04"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.03"/>
<define name="AUTO_PITCH_PGAIN" value="0.03"/>
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
@@ -170,15 +170,15 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1."/>
<define name="COURSE_PGAIN" value="1."/>
<define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-9000."/>
<define name="ROLL_RATE_GAIN" value="-3000."/>
<define name="ROLL_ATTITUDE_GAIN" value="9000."/>
<define name="ROLL_RATE_GAIN" value="3000."/>
<define name="PITCH_PGAIN" value="-20000."/>
<define name="PITCH_PGAIN" value="20000."/>
<define name="PITCH_DGAIN" value="0.4"/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
+13 -13
View File
@@ -149,7 +149,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/-->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
<define name="ALTITUDE_PGAIN" value="0.06"/> <!-- -0.024 -->
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
@@ -160,14 +160,14 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.04"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.03"/>
<define name="AUTO_PITCH_DGAIN" value="-0.0"/>
<define name="AUTO_PITCH_IGAIN" value="-0.0"/>
<define name="AUTO_PITCH_PGAIN" value="0.03"/>
<define name="AUTO_PITCH_DGAIN" value="0.0"/>
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -190,20 +190,20 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1."/>
<define name="COURSE_PGAIN" value="1."/>
<define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-9000."/>
<define name="ROLL_RATE_GAIN" value="-3000."/>
<define name="ROLL_IGAIN" value="-500"/>
<define name="ROLL_KFFA" value="-500"/>
<define name="ROLL_KFFD" value="-500"/>
<define name="ROLL_ATTITUDE_GAIN" value="9000."/>
<define name="ROLL_RATE_GAIN" value="3000."/>
<define name="ROLL_IGAIN" value="500"/>
<define name="ROLL_KFFA" value="500"/>
<define name="ROLL_KFFD" value="500"/>
<define name="PITCH_PGAIN" value="-20000."/>
<define name="PITCH_PGAIN" value="20000."/>
<define name="PITCH_DGAIN" value="0.4"/>
<define name="PITCH_IGAIN" value="-500"/>
<define name="PITCH_IGAIN" value="500"/>
<define name="PITCH_KFFA" value="0."/>
<define name="PITCH_KFFD" value="0."/>
conf/airframes/ENAC/fixed-wing/funjet2_new.xml
+13 -13
View File
@@ -149,7 +149,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/-->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
<define name="ALTITUDE_PGAIN" value="0.06"/> <!-- -0.024 -->
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
@@ -160,14 +160,14 @@
<!--define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/-->
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
<define name="AUTO_THROTTLE_IGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.02"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
<define name="AUTO_PITCH_DGAIN" value="-0.0"/>
<define name="AUTO_PITCH_IGAIN" value="-0.01"/>
<define name="AUTO_PITCH_PGAIN" value="0.05"/>
<define name="AUTO_PITCH_DGAIN" value="0.0"/>
<define name="AUTO_PITCH_IGAIN" value="0.01"/>
<!--define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/-->
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -190,20 +190,20 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.7"/>
<define name="COURSE_PGAIN" value="0.7"/>
<define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-9000."/>
<define name="ROLL_RATE_GAIN" value="-3000."/>
<define name="ROLL_IGAIN" value="-0"/>
<define name="ROLL_ATTITUDE_GAIN" value="9000."/>
<define name="ROLL_RATE_GAIN" value="3000."/>
<define name="ROLL_IGAIN" value="0"/>
<define name="ROLL_KFFA" value="0"/>
<define name="ROLL_KFFD" value="0"/>
<define name="PITCH_PGAIN" value="-20000."/>
<define name="PITCH_DGAIN" value="-1000"/>
<define name="PITCH_IGAIN" value="-300"/>
<define name="PITCH_PGAIN" value="20000."/>
<define name="PITCH_DGAIN" value="1000"/>
<define name="PITCH_IGAIN" value="300"/>
<define name="PITCH_KFFA" value="0."/>
<define name="PITCH_KFFD" value="0."/>
conf/airframes/ENAC/fixed-wing/funjet3.xml
+13 -13
View File
@@ -120,7 +120,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/-->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.159999996424"/> <!-- -0.024 -->
<define name="ALTITUDE_PGAIN" value="0.159999996424"/> <!-- -0.024 -->
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="5."/>
@@ -133,15 +133,15 @@
<!-- Climb loop (throttle) -->
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.004"/> <!-- -0.005 -->
<define name="AUTO_THROTTLE_DGAIN" value="-0.01"/> <!-- 0.005 -->
<define name="AUTO_THROTTLE_IGAIN" value="-0.004"/> <!-- 0.005 -->
<define name="AUTO_THROTTLE_PGAIN" value="0.004"/> <!-- -0.005 -->
<define name="AUTO_THROTTLE_DGAIN" value="0.01"/> <!-- 0.005 -->
<define name="AUTO_THROTTLE_IGAIN" value="0.004"/> <!-- 0.005 -->
<!-- Climb loop (pitch) -->
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
<define name="AUTO_PITCH_PGAIN" value="-0.038"/> <!-- -0.03 -->
<define name="AUTO_PITCH_DGAIN" value="-0.036"/> <!-- -0.03 -->
<define name="AUTO_PITCH_IGAIN" value="-0.0"/>
<define name="AUTO_PITCH_PGAIN" value="0.038"/> <!-- -0.03 -->
<define name="AUTO_PITCH_DGAIN" value="0.036"/> <!-- -0.03 -->
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<!-- airspeed control -->
<define name="AUTO_AIRSPEED_SETPOINT" value="16."/>
@@ -167,20 +167,20 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.699999988079"/>
<define name="COURSE_PGAIN" value="0.699999988079"/>
<define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-6000."/>
<define name="ROLL_RATE_GAIN" value="-1000."/>
<define name="ROLL_IGAIN" value="-400."/>
<define name="ROLL_ATTITUDE_GAIN" value="6000."/>
<define name="ROLL_RATE_GAIN" value="1000."/>
<define name="ROLL_IGAIN" value="400."/>
<define name="ROLL_KFFA" value="0"/>
<define name="ROLL_KFFD" value="0"/>
<define name="PITCH_PGAIN" value="-20000."/>
<define name="PITCH_PGAIN" value="20000."/>
<define name="PITCH_DGAIN" value="0."/>
<define name="PITCH_IGAIN" value="-460."/>
<define name="PITCH_IGAIN" value="460."/>
<define name="PITCH_KFFA" value="0."/>
<define name="PITCH_KFFD" value="0."/>
conf/airframes/ENAC/fixed-wing/merlin.xml
+13 -13
View File
@@ -119,7 +119,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/>
<define name="ALTITUDE_PGAIN" value="0.06"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -130,14 +130,14 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.023"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.023"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.06"/>
<define name="AUTO_PITCH_IGAIN" value="-0.0"/>
<define name="AUTO_PITCH_DGAIN" value="-0.0"/>
<define name="AUTO_PITCH_PGAIN" value="0.06"/>
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<define name="AUTO_PITCH_DGAIN" value="0.0"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -151,20 +151,20 @@
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.0"/>
<define name="COURSE_PGAIN" value="1.0"/>
<define name="ROLL_MAX_SETPOINT" value="0.60" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-5900"/>
<define name="ROLL_RATE_GAIN" value="-2900"/>
<define name="ROLL_IGAIN" value="-500"/>
<define name="ROLL_KFFA" value="-500"/>
<define name="ROLL_KFFD" value="-500"/>
<define name="ROLL_ATTITUDE_GAIN" value="5900"/>
<define name="ROLL_RATE_GAIN" value="2900"/>
<define name="ROLL_IGAIN" value="500"/>
<define name="ROLL_KFFA" value="500"/>
<define name="ROLL_KFFD" value="500"/>
<define name="PITCH_PGAIN" value="-9000."/>
<define name="PITCH_PGAIN" value="9000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="PITCH_IGAIN" value="-500"/>
<define name="PITCH_IGAIN" value="500"/>
<define name="PITCH_KFFA" value="0."/>
<define name="PITCH_KFFD" value="0."/>
conf/airframes/ENAC/fixed-wing/minimag1.xml
+5 -5
View File
@@ -131,7 +131,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.07"/>
<define name="ALTITUDE_PGAIN" value="0.07"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -142,12 +142,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-500"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.025"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.025"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
<define name="AUTO_PITCH_PGAIN" value="0.05"/>
<define name="AUTO_PITCH_IGAIN" value="0.075"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -156,7 +156,7 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.2"/>
<define name="COURSE_PGAIN" value="1.2"/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
@@ -164,7 +164,7 @@
<define name="ROLL_PGAIN" value="12000."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-9000."/>
<define name="PITCH_PGAIN" value="9000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/>
</section>
conf/airframes/ENAC/fixed-wing/obsolete/drops.xml
+9 -9
View File
@@ -132,7 +132,7 @@ on<!DOCTYPE airframe SYSTEM "airframe.dtd">
<!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/-->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/>
<define name="ALTITUDE_PGAIN" value="0.06"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -143,12 +143,12 @@ on<!DOCTYPE airframe SYSTEM "airframe.dtd">
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.023"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.023"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.101000003517"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.06"/>
<define name="AUTO_PITCH_PGAIN" value="0.06"/>
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -158,23 +158,23 @@ on<!DOCTYPE airframe SYSTEM "airframe.dtd">
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.0340000391"/>
<define name="COURSE_PGAIN" value="1.0340000391"/>
<define name="ROLL_MAX_SETPOINT" value="0.60" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_PGAIN" value="6000."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-8898.3046875"/>
<define name="PITCH_DGAIN" value="-1694.91503906"/>
<define name="PITCH_PGAIN" value="8898.3046875"/>
<define name="PITCH_DGAIN" value="1694.91503906"/>
<define name="ELEVATOR_OF_ROLL" value="1520.73706055"/>
<define name="ROLL_ATTITUDE_GAIN" value="-5847.45800781"/>
<define name="ROLL_RATE_GAIN" value="-2923.72900391"/>
<define name="ROLL_ATTITUDE_GAIN" value="5847.45800781"/>
<define name="ROLL_RATE_GAIN" value="2923.72900391"/>
<define name="ROLL_KFF" value="-500"/>
<define name="ROLL_IGAIN" value="-5000"/>
<define name="ROLL_IGAIN" value="5000"/>
</section>
<section name="NAV">
conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml
+9 -9
View File
@@ -115,7 +115,7 @@
<!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ -->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.104000002146"/>
<define name="ALTITUDE_PGAIN" value="0.104000002146"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
@@ -126,12 +126,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.0149999996647"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.0149999996647"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.0460000000894"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.0209999997169"/>
<define name="AUTO_PITCH_PGAIN" value="0.0209999997169"/>
<define name="AUTO_PITCH_IGAIN" value="0.203999996185"/>
<define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.148000001907"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
@@ -142,23 +142,23 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.20599997044"/>
<define name="COURSE_PGAIN" value="1.20599997044"/>
<define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-14814.8154297"/>
<define name="PITCH_PGAIN" value="14814.8154297"/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="2500"/>
<define name="ROLL_ATTITUDE_GAIN" value="-8055.55615234"/>
<define name="ROLL_RATE_GAIN" value="-1527.7779541"/>
<define name="ROLL_ATTITUDE_GAIN" value="8055.55615234"/>
<define name="ROLL_RATE_GAIN" value="1527.7779541"/>
<define name="ROLL_KFF" value="-500"/>
<define name="ROLL_IGAIN" value="-500"/>
<define name="PITCH_IGAIN" value="-500"/>
<define name="ROLL_IGAIN" value="500"/>
<define name="PITCH_IGAIN" value="500"/>
</section>
<section name="NAV">
conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml
+7 -7
View File
@@ -113,7 +113,7 @@
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.04"/>
<define name="ALTITUDE_PGAIN" value="0.04"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -124,12 +124,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.02"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.37"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
<define name="AUTO_PITCH_PGAIN" value="0.05"/>
<define name="AUTO_PITCH_IGAIN" value="0.075"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -139,23 +139,23 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1."/>
<define name="COURSE_PGAIN" value="1."/>
<define name="ROLL_MAX_SETPOINT" value="0.7" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-50000"/>
<define name="PITCH_PGAIN" value="50000"/>
<define name="PITCH_DGAIN" value="0"/>
<define name="ELEVATOR_OF_ROLL" value="2500"/>
<define name="ROLL_ATTITUDE_GAIN" value="-20000"/>
<define name="ROLL_ATTITUDE_GAIN" value="20000"/>
<define name="ROLL_RATE_GAIN" value="0"/>
<define name="ROLL_KFFP" value="-500"/>
<define name="ROLL_KFFD" value="0"/>
<define name="ROLL_IGAIN" value="-5000"/>
<define name="ROLL_IGAIN" value="5000"/>
</section>
<section name="NAV">
conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml
+7 -7
View File
@@ -113,7 +113,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.065"/>
<define name="ALTITUDE_PGAIN" value="0.065"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
@@ -124,13 +124,13 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1250"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-2000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.15"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.15"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_DGAIN" value="-1"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.1"/>
<define name="AUTO_PITCH_PGAIN" value="0.1"/>
<define name="AUTO_PITCH_IGAIN" value="0.025"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.5"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.5"/>
@@ -140,21 +140,21 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-2.6"/>
<define name="COURSE_PGAIN" value="2.6"/>
<define name="COURSE_DGAIN" value="1"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="1."/>
<define name="ROLL_MAX_SETPOINT" value="0.73" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-9000."/>
<define name="PITCH_PGAIN" value="9000."/>
<define name="PITCH_DGAIN" value="0."/>
<define name="ELEVATOR_OF_ROLL" value="1000"/>
<!-- roll rate loop -->
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/>
<define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="1500"/>
<define name="COURSE_SLEW_INCREMENT" value="RadOfDeg(3)"/>
</section>
conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml
+10 -10
View File
@@ -118,7 +118,7 @@
<!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ -->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.04"/>
<define name="ALTITUDE_PGAIN" value="0.04"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -129,12 +129,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-2500"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.02"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.15"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
<define name="AUTO_PITCH_PGAIN" value="0.05"/>
<define name="AUTO_PITCH_IGAIN" value="0.075"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -144,29 +144,29 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.885999977589"/>
<define name="COURSE_PGAIN" value="0.885999977589"/>
<define name="ROLL_MAX_SETPOINT" value="0.7" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-14255.3193359"/>
<define name="PITCH_PGAIN" value="14255.3193359"/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="2000."/>
<define name="ROLL_ATTITUDE_GAIN" value="-12000"/>
<define name="ROLL_RATE_GAIN" value="-2500"/>
<define name="ROLL_ATTITUDE_GAIN" value="12000"/>
<define name="ROLL_RATE_GAIN" value="2500"/>
<define name="ROLL_KFF" value="-500"/>
<define name="ROLL_IGAIN" value="-00"/>
<define name="PITCH_IGAIN" value="-500"/>
<define name="ROLL_IGAIN" value="00"/>
<define name="PITCH_IGAIN" value="500"/>
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
<define name="NAV_GROUND_SPEED_PGAIN" value="-0.01"/>
<define name="NAV_GROUND_SPEED_PGAIN" value="0.01"/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml
+9 -9
View File
@@ -120,7 +120,7 @@
<!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ -->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.04"/>
<define name="ALTITUDE_PGAIN" value="0.04"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -131,12 +131,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.02"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
<define name="AUTO_PITCH_PGAIN" value="0.05"/>
<define name="AUTO_PITCH_IGAIN" value="0.075"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -146,23 +146,23 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.20599997044"/>
<define name="COURSE_PGAIN" value="1.20599997044"/>
<define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-7627.11914062"/>
<define name="PITCH_PGAIN" value="7627.11914062"/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="2500"/>
<define name="ROLL_ATTITUDE_GAIN" value="-12584.7460938"/>
<define name="ROLL_RATE_GAIN" value="-1779.66101074"/>
<define name="ROLL_ATTITUDE_GAIN" value="12584.7460938"/>
<define name="ROLL_RATE_GAIN" value="1779.66101074"/>
<define name="ROLL_KFF" value="-500"/>
<define name="ROLL_IGAIN" value="-500"/>
<define name="PITCH_IGAIN" value="-500"/>
<define name="ROLL_IGAIN" value="500"/>
<define name="PITCH_IGAIN" value="500"/>
</section>
<section name="NAV">
conf/airframes/ENAC/fixed-wing/overview.xml
+7 -7
View File
@@ -119,7 +119,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/>
<define name="ALTITUDE_PGAIN" value="0.06"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -130,12 +130,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.023"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.023"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.06"/>
<define name="AUTO_PITCH_PGAIN" value="0.06"/>
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -145,15 +145,15 @@
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.0"/>
<define name="COURSE_PGAIN" value="1.0"/>
<define name="ROLL_MAX_SETPOINT" value="0.60" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-9000."/>
<define name="ROLL_RATE_GAIN" value="-3000."/>
<define name="ROLL_ATTITUDE_GAIN" value="9000."/>
<define name="ROLL_RATE_GAIN" value="3000."/>
<define name="PITCH_PGAIN" value="-9000."/>
<define name="PITCH_PGAIN" value="9000."/>
<define name="PITCH_DGAIN" value="0.4"/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
conf/airframes/ENAC/fixed-wing/soarzi.xml
+5 -5
View File
@@ -110,7 +110,7 @@
<define name="POWER_CTL_BAT_NOMINAL" value="7.4" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.07"/>
<define name="ALTITUDE_PGAIN" value="0.07"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -121,12 +121,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-500"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.025"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.025"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
<define name="AUTO_PITCH_PGAIN" value="0.05"/>
<define name="AUTO_PITCH_IGAIN" value="0.075"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -136,7 +136,7 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.2"/>
<define name="COURSE_PGAIN" value="1.2"/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
@@ -144,7 +144,7 @@
<define name="ROLL_PGAIN" value="12000."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-9000."/>
<define name="PITCH_PGAIN" value="9000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/>
conf/airframes/ENAC/fixed-wing/spocIII-1.xml
+9 -9
View File
@@ -121,7 +121,7 @@
<!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ -->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.04"/>
<define name="ALTITUDE_PGAIN" value="0.04"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -132,12 +132,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.02"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
<define name="AUTO_PITCH_PGAIN" value="0.05"/>
<define name="AUTO_PITCH_IGAIN" value="0.075"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -147,23 +147,23 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.20599997044"/>
<define name="COURSE_PGAIN" value="1.20599997044"/>
<define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-8200"/>
<define name="PITCH_PGAIN" value="8200"/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="2500"/>
<define name="ROLL_ATTITUDE_GAIN" value="-8500"/>
<define name="ROLL_RATE_GAIN" value="-2700"/>
<define name="ROLL_ATTITUDE_GAIN" value="8500"/>
<define name="ROLL_RATE_GAIN" value="2700"/>
<define name="ROLL_KFF" value="-500"/>
<define name="ROLL_IGAIN" value="-500"/>
<define name="PITCH_IGAIN" value="-500"/>
<define name="ROLL_IGAIN" value="500"/>
<define name="PITCH_IGAIN" value="500"/>
</section>
<section name="NAV">
conf/airframes/ENAC/fixed-wing/spocIII-2.xml
+14 -14
View File
@@ -124,7 +124,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.04"/>
<define name="ALTITUDE_PGAIN" value="0.04"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -139,15 +139,15 @@
<!-- Climb loop (throttle) -->
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.08" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_DGAIN" value="-0.0"/>
<define name="AUTO_THROTTLE_IGAIN" value="-0.001"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.001"/>
<!-- Climb loop (pitch) -->
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.08"/>
<define name="AUTO_PITCH_PGAIN" value="-0.0"/>
<define name="AUTO_PITCH_DGAIN" value="-0.0"/>
<define name="AUTO_PITCH_IGAIN" value="-0.0"/>
<define name="AUTO_PITCH_PGAIN" value="0.0"/>
<define name="AUTO_PITCH_DGAIN" value="0.0"/>
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<!-- airspeed control -->
<define name="AUTO_AIRSPEED_SETPOINT" value="17."/>
@@ -174,21 +174,21 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.20599997044"/>
<define name="COURSE_PGAIN" value="1.20599997044"/>
<define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-8500."/>
<define name="ROLL_RATE_GAIN" value="-2400."/>
<define name="ROLL_IGAIN" value="-0."/>
<define name="ROLL_ATTITUDE_GAIN" value="8500."/>
<define name="ROLL_RATE_GAIN" value="2400."/>
<define name="ROLL_IGAIN" value="0."/>
<define name="ROLL_KFFA" value="0"/>
<define name="ROLL_KFFD" value="0"/>
<define name="PITCH_PGAIN" value="-7000."/>
<define name="PITCH_DGAIN" value="-2400."/>
<define name="PITCH_IGAIN" value="-300."/>
<define name="PITCH_PGAIN" value="7000."/>
<define name="PITCH_DGAIN" value="2400."/>
<define name="PITCH_IGAIN" value="300."/>
<define name="PITCH_KFFA" value="0."/>
<define name="PITCH_KFFD" value="0."/>
conf/airframes/ENAC/fixed-wing/spocIII-3.xml
+14 -14
View File
@@ -127,7 +127,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.04"/>
<define name="ALTITUDE_PGAIN" value="0.04"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -142,15 +142,15 @@
<!-- Climb loop (throttle) -->
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.08" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_DGAIN" value="-0.0"/>
<define name="AUTO_THROTTLE_IGAIN" value="-0.001"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.001"/>
<!-- Climb loop (pitch) -->
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.08"/>
<define name="AUTO_PITCH_PGAIN" value="-0.0"/>
<define name="AUTO_PITCH_DGAIN" value="-0.0"/>
<define name="AUTO_PITCH_IGAIN" value="-0.0"/>
<define name="AUTO_PITCH_PGAIN" value="0.0"/>
<define name="AUTO_PITCH_DGAIN" value="0.0"/>
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<!-- airspeed control -->
<define name="AUTO_AIRSPEED_SETPOINT" value="17."/>
@@ -177,21 +177,21 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.20599997044"/>
<define name="COURSE_PGAIN" value="1.20599997044"/>
<define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-8500."/>
<define name="ROLL_RATE_GAIN" value="-2400."/>
<define name="ROLL_IGAIN" value="-0."/>
<define name="ROLL_ATTITUDE_GAIN" value="8500."/>
<define name="ROLL_RATE_GAIN" value="2400."/>
<define name="ROLL_IGAIN" value="0."/>
<define name="ROLL_KFFA" value="0"/>
<define name="ROLL_KFFD" value="0"/>
<define name="PITCH_PGAIN" value="-7000."/>
<define name="PITCH_DGAIN" value="-2400."/>
<define name="PITCH_IGAIN" value="-300."/>
<define name="PITCH_PGAIN" value="7000."/>
<define name="PITCH_DGAIN" value="2400."/>
<define name="PITCH_IGAIN" value="300."/>
<define name="PITCH_KFFA" value="0."/>
<define name="PITCH_KFFD" value="0."/>
conf/airframes/ENAC/fixed-wing/twinjet2.xml
+15 -15
View File
@@ -131,7 +131,7 @@
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.0450000017881"/>
<define name="ALTITUDE_PGAIN" value="0.0450000017881"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -142,15 +142,15 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.035000000149"/>
<define name="AUTO_THROTTLE_IGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_DGAIN" value="-0"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.035000000149"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_DGAIN" value="0"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.12"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.035000000149"/>
<define name="AUTO_PITCH_IGAIN" value="-0.01"/>
<define name="AUTO_PITCH_DGAIN" value="-0"/>
<define name="AUTO_PITCH_PGAIN" value="0.035000000149"/>
<define name="AUTO_PITCH_IGAIN" value="0.01"/>
<define name="AUTO_PITCH_DGAIN" value="0"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
<define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.15"/>
@@ -164,21 +164,21 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.995000004768"/>
<define name="COURSE_PGAIN" value="0.995000004768"/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-3553.89208984"/>
<define name="ROLL_ATTITUDE_GAIN" value="3553.89208984"/>
<define name="ROLL_RATE_GAIN" value="0."/>
<define name="ROLL_IGAIN" value="-500"/>
<define name="ROLL_KFFA" value="-500"/>
<define name="ROLL_KFFD" value="-500"/>
<define name="ROLL_IGAIN" value="500"/>
<define name="ROLL_KFFA" value="500"/>
<define name="ROLL_KFFD" value="500"/>
<define name="PITCH_PGAIN" value="-14522.4716797"/>
<define name="PITCH_DGAIN" value="-0."/>
<define name="PITCH_IGAIN" value="-500"/>
<define name="PITCH_PGAIN" value="14522.4716797"/>
<define name="PITCH_DGAIN" value="0."/>
<define name="PITCH_IGAIN" value="500"/>
<define name="PITCH_KFFA" value="0."/>
<define name="PITCH_KFFD" value="0."/>
conf/airframes/ENAC/fixed-wing/weasel.xml
+13 -13
View File
@@ -144,7 +144,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/-->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.159999996424"/> <!-- -0.024 -->
<define name="ALTITUDE_PGAIN" value="0.159999996424"/> <!-- -0.024 -->
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="5."/>
@@ -157,15 +157,15 @@
<!-- Climb loop (throttle) -->
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.004"/> <!-- -0.005 -->
<define name="AUTO_THROTTLE_DGAIN" value="-0.01"/> <!-- 0.005 -->
<define name="AUTO_THROTTLE_IGAIN" value="-0.004"/> <!-- 0.005 -->
<define name="AUTO_THROTTLE_PGAIN" value="0.004"/> <!-- -0.005 -->
<define name="AUTO_THROTTLE_DGAIN" value="0.01"/> <!-- 0.005 -->
<define name="AUTO_THROTTLE_IGAIN" value="0.004"/> <!-- 0.005 -->
<!-- Climb loop (pitch) -->
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
<define name="AUTO_PITCH_PGAIN" value="-0.038"/> <!-- -0.03 -->
<define name="AUTO_PITCH_DGAIN" value="-0.036"/> <!-- -0.03 -->
<define name="AUTO_PITCH_IGAIN" value="-0.0"/>
<define name="AUTO_PITCH_PGAIN" value="0.038"/> <!-- -0.03 -->
<define name="AUTO_PITCH_DGAIN" value="0.036"/> <!-- -0.03 -->
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<!-- airspeed control -->
<define name="AUTO_AIRSPEED_SETPOINT" value="16."/>
@@ -191,20 +191,20 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.7"/>
<define name="COURSE_PGAIN" value="0.7"/>
<define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-3800."/>
<define name="ROLL_RATE_GAIN" value="-500."/>
<define name="ROLL_IGAIN" value="-150."/>
<define name="ROLL_ATTITUDE_GAIN" value="3800."/>
<define name="ROLL_RATE_GAIN" value="500."/>
<define name="ROLL_IGAIN" value="150."/>
<define name="ROLL_KFFA" value="0"/>
<define name="ROLL_KFFD" value="0"/>
<define name="PITCH_PGAIN" value="-10000."/>
<define name="PITCH_PGAIN" value="10000."/>
<define name="PITCH_DGAIN" value="0."/>
<define name="PITCH_IGAIN" value="-250."/>
<define name="PITCH_IGAIN" value="250."/>
<define name="PITCH_KFFA" value="0."/>
<define name="PITCH_KFFD" value="0."/>
conf/airframes/ENAC/quadrotor/blender.xml
+18 -18
View File
@@ -142,9 +142,9 @@
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
@@ -173,17 +173,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-160"/>
<define name="PHI_IGAIN" value="-40"/>
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="160"/>
<define name="PHI_IGAIN" value="40"/>
<define name="THETA_PGAIN" value="-400"/>
<define name="THETA_DGAIN" value="-160"/>
<define name="THETA_IGAIN" value="-40"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="160"/>
<define name="THETA_IGAIN" value="40"/>
<define name="PSI_PGAIN" value="-1000"/>
<define name="PSI_DGAIN" value="-350"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="1000"/>
<define name="PSI_DGAIN" value="350"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
@@ -208,8 +208,8 @@
<define name="REF_MAX_ZDD" value=" 0.8*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1.5"/>
<define name="HOVER_KP" value="-400"/>
<define name="HOVER_KD" value="-200"/>
<define name="HOVER_KP" value="400"/>
<define name="HOVER_KD" value="200"/>
<define name="HOVER_KI" value="0"/>
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
@@ -218,10 +218,10 @@
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-140"/>
<define name="DGAIN" value="-90"/>
<define name="IGAIN" value="-30"/>
<define name="NGAIN" value="-0"/>
<define name="PGAIN" value="140"/>
<define name="DGAIN" value="90"/>
<define name="IGAIN" value="30"/>
<define name="NGAIN" value="0"/>
<!-- feedforward -->
<define name="AGAIN" value="100"/>
</section>
conf/airframes/ENAC/quadrotor/booz2_g1.xml
+18 -18
View File
@@ -105,9 +105,9 @@
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
@@ -136,17 +136,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-2000"/>
<define name="PHI_DGAIN" value="-400"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="2000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-2000"/>
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="2000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-2000"/>
<define name="PSI_DGAIN" value="-400"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="2000"/>
<define name="PSI_DGAIN" value="400"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
@@ -170,8 +170,8 @@
<define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1.5"/>
<define name="HOVER_KP" value="-150"/>
<define name="HOVER_KD" value="-80"/>
<define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
@@ -182,10 +182,10 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-50"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-15"/>
<define name="NGAIN" value="-0"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="15"/>
<define name="NGAIN" value="0"/>
<!-- feedforward -->
<define name="AGAIN" value="100"/>
</section>
conf/airframes/ENAC/quadrotor/g1_vision.xml
+18 -18
View File
@@ -79,9 +79,9 @@
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
@@ -110,17 +110,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-2000"/>
<define name="PHI_DGAIN" value="-400"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="2000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-2000"/>
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="2000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-1000"/>
<define name="PSI_DGAIN" value="-350"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="1000"/>
<define name="PSI_DGAIN" value="350"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
@@ -152,8 +152,8 @@
<define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1.5"/>
<define name="HOVER_KP" value="-150"/>
<define name="HOVER_KD" value="-80"/>
<define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
@@ -164,10 +164,10 @@
<section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
<define name="PGAIN" value="-50"/>
<define name="DGAIN" value="-60"/>
<define name="IGAIN" value="-0"/>
<define name="NGAIN" value="-0"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="60"/>
<define name="IGAIN" value="0"/>
<define name="NGAIN" value="0"/>
<!-- feedforward -->
<define name="AGAIN" value="50"/>
</section>
conf/airframes/ENAC/quadrotor/mkk1-vision.xml
+21 -21
View File
@@ -99,9 +99,9 @@
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
@@ -111,9 +111,9 @@
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
@@ -143,17 +143,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-650"/>
<define name="PHI_DGAIN" value="-200"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="650"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-650"/>
<define name="THETA_DGAIN" value="-200"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="650"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-800"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-20"/>
<define name="PSI_PGAIN" value="800"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="20"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
@@ -186,8 +186,8 @@
<define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1.5"/>
<define name="HOVER_KP" value="-200"/>
<define name="HOVER_KD" value="-100"/>
<define name="HOVER_KP" value="200"/>
<define name="HOVER_KD" value="100"/>
<define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
@@ -197,10 +197,10 @@
<section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
<define name="PGAIN" value="-250"/>
<define name="DGAIN" value="-150"/>
<define name="IGAIN" value="-35"/>
<define name="NGAIN" value="-0"/>
<define name="PGAIN" value="250"/>
<define name="DGAIN" value="150"/>
<define name="IGAIN" value="35"/>
<define name="NGAIN" value="0"/>
<!-- feedforward -->
<define name="AGAIN" value="100"/>
</section>
conf/airframes/ENAC/quadrotor/mkk1.xml
+22 -22
View File
@@ -21,7 +21,7 @@
<subsystem name="ins" type="hff"/>
</firmware>
<firmware name="lisa_l_test_progs">
<firmware name="lisa_test_progs">
<target name="test_imu_b2" board="lisa_l_1.0"/>
<target name="test_telemetry" board="lisa_l_1.0"/>
<target name="test_baro" board="lisa_l_1.0"/>
@@ -129,9 +129,9 @@
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
@@ -141,9 +141,9 @@
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
@@ -173,17 +173,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-650"/>
<define name="PHI_DGAIN" value="-200"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="650"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-650"/>
<define name="THETA_DGAIN" value="-200"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="650"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-800"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-20"/>
<define name="PSI_PGAIN" value="800"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="20"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
@@ -206,8 +206,8 @@
<define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1.5"/>
<define name="HOVER_KP" value="-200"/>
<define name="HOVER_KD" value="-100"/>
<define name="HOVER_KP" value="200"/>
<define name="HOVER_KD" value="100"/>
<define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
@@ -217,10 +217,10 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-60"/>
<define name="DGAIN" value="-120"/>
<define name="IGAIN" value="-10"/>
<define name="NGAIN" value="-0"/>
<define name="PGAIN" value="60"/>
<define name="DGAIN" value="120"/>
<define name="IGAIN" value="10"/>
<define name="NGAIN" value="0"/>
<!-- feedforward -->
<define name="AGAIN" value="100"/>
</section>
conf/airframes/ENAC/quadrotor/navgo.xml
+18 -18
View File
@@ -158,9 +158,9 @@
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
@@ -189,17 +189,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-350"/>
<define name="PHI_DGAIN" value="-190"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="350"/>
<define name="PHI_DGAIN" value="190"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-350"/>
<define name="THETA_DGAIN" value="-190"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="350"/>
<define name="THETA_DGAIN" value="190"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-700"/>
<define name="PSI_DGAIN" value="-250"/>
<define name="PSI_IGAIN" value="-20"/>
<define name="PSI_PGAIN" value="700"/>
<define name="PSI_DGAIN" value="250"/>
<define name="PSI_IGAIN" value="20"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 70"/>
@@ -219,8 +219,8 @@
<define name="REF_MAX_ZDD" value=" 0.8*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1.5"/>
<define name="HOVER_KP" value="-500"/>
<define name="HOVER_KD" value="-250"/>
<define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="250"/>
<define name="HOVER_KI" value="0"/>
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
@@ -229,10 +229,10 @@
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-140"/>
<define name="DGAIN" value="-90"/>
<define name="IGAIN" value="-30"/>
<define name="NGAIN" value="-0"/>
<define name="PGAIN" value="140"/>
<define name="DGAIN" value="90"/>
<define name="IGAIN" value="30"/>
<define name="NGAIN" value="0"/>
<!-- feedforward -->
<define name="AGAIN" value="100"/>
</section>
conf/airframes/ENAC/quadrotor/nova1.xml
+22 -22
View File
@@ -20,7 +20,7 @@
<subsystem name="ins" type="hff"/>
</firmware>
<firmware name="lisa_l_test_progs">
<firmware name="lisa_test_progs">
<target name="test_imu_b2" board="lisa_l_1.0"/>
<target name="test_telemetry" board="lisa_l_1.0"/>
<target name="test_baro" board="lisa_l_1.0"/>
@@ -100,9 +100,9 @@
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
@@ -112,9 +112,9 @@
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
@@ -144,17 +144,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-650"/>
<define name="PHI_DGAIN" value="-200"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="650"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-650"/>
<define name="THETA_DGAIN" value="-200"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="650"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-800"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-20"/>
<define name="PSI_PGAIN" value="800"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="20"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
@@ -177,8 +177,8 @@
<define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1.5"/>
<define name="HOVER_KP" value="-200"/>
<define name="HOVER_KD" value="-100"/>
<define name="HOVER_KP" value="200"/>
<define name="HOVER_KD" value="100"/>
<define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
@@ -188,10 +188,10 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-60"/>
<define name="DGAIN" value="-120"/>
<define name="IGAIN" value="-10"/>
<define name="NGAIN" value="-0"/>
<define name="PGAIN" value="60"/>
<define name="DGAIN" value="120"/>
<define name="IGAIN" value="10"/>
<define name="NGAIN" value="0"/>
<!-- feedforward -->
<define name="AGAIN" value="100"/>
</section>
conf/airframes/LAAS/mmlaas_N1.xml
+7 -7
View File
@@ -140,7 +140,7 @@
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.15"/>
<define name="ALTITUDE_PGAIN" value="0.15"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -151,12 +151,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-2000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.05"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.05"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.065"/>
<define name="AUTO_PITCH_PGAIN" value="0.065"/>
<define name="AUTO_PITCH_IGAIN" value="0.15"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -166,15 +166,15 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1."/>
<define name="COURSE_PGAIN" value="1."/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-10000"/>
<define name="ROLL_ATTITUDE_GAIN" value="10000"/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-12000."/>
<define name="PITCH_PGAIN" value="12000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/>
</section>
@@ -182,7 +182,7 @@
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
<define name="NAV_GROUND_SPEED_PGAIN" value="-0.015"/>
<define name="NAV_GROUND_SPEED_PGAIN" value="0.015"/>
<define name="NAV_FOLLOW_PGAIN" value="-0.05"/>
</section>
conf/airframes/LAAS/mmlaas_N2.xml
+7 -7
View File
@@ -136,7 +136,7 @@
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.15"/>
<define name="ALTITUDE_PGAIN" value="0.15"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -147,12 +147,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-2000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.05"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.05"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.065"/>
<define name="AUTO_PITCH_PGAIN" value="0.065"/>
<define name="AUTO_PITCH_IGAIN" value="0.15"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -162,15 +162,15 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1."/>
<define name="COURSE_PGAIN" value="1."/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-10000"/>
<define name="ROLL_ATTITUDE_GAIN" value="10000"/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-12000."/>
<define name="PITCH_PGAIN" value="12000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/>
</section>
@@ -178,7 +178,7 @@
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
<define name="NAV_GROUND_SPEED_PGAIN" value="-0.015"/>
<define name="NAV_GROUND_SPEED_PGAIN" value="0.015"/>
<define name="NAV_FOLLOW_PGAIN" value="-0.05"/>
</section>
conf/airframes/LAAS/mmlaas_N3.xml
+7 -7
View File
@@ -136,7 +136,7 @@
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.15"/>
<define name="ALTITUDE_PGAIN" value="0.15"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -147,12 +147,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-2000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.05"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.05"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.065"/>
<define name="AUTO_PITCH_PGAIN" value="0.065"/>
<define name="AUTO_PITCH_IGAIN" value="0.15"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -162,15 +162,15 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1."/>
<define name="COURSE_PGAIN" value="1."/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-10000"/>
<define name="ROLL_ATTITUDE_GAIN" value="10000"/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-12000."/>
<define name="PITCH_PGAIN" value="12000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/>
</section>
@@ -178,7 +178,7 @@
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
<define name="NAV_GROUND_SPEED_PGAIN" value="-0.015"/>
<define name="NAV_GROUND_SPEED_PGAIN" value="0.015"/>
<define name="NAV_FOLLOW_PGAIN" value="-0.05"/>
</section>
conf/airframes/NoVa_L.xml
+30 -30
View File
@@ -112,9 +112,9 @@
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
@@ -143,17 +143,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- gaui props
<define name="PHI_PGAIN" value="-900"/>
<define name="PHI_DGAIN" value="-200"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="900"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-900"/>
<define name="THETA_DGAIN" value="-200"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="900"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-900"/>
<define name="PSI_DGAIN" value="-200"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="900"/>
<define name="PSI_DGAIN" value="200"/>
<define name="PSI_IGAIN" value="10"/>
<define name="PHI_DDGAIN" value=" 200"/>
<define name="THETA_DDGAIN" value=" 200"/>
@@ -161,17 +161,17 @@
-->
<!-- feedback -->
<define name="PHI_PGAIN" value="-2000"/>
<define name="PHI_DGAIN" value="-400"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="2000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-2000"/>
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="2000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-2000"/>
<define name="PSI_DGAIN" value="-400"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="2000"/>
<define name="PSI_DGAIN" value="400"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
@@ -200,12 +200,12 @@
<define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="-500"/>
<define name="HOVER_KD" value="-200"/>
<define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="200"/>
<define name="HOVER_KI" value="0"/>
<!--
<define name="HOVER_KP" value="-150"/>
<define name="HOVER_KD" value="-80"/>
<define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="0"/>
-->
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
@@ -217,10 +217,10 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-50"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-15"/>
<define name="NGAIN" value="-0"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="15"/>
<define name="NGAIN" value="0"/>
</section>
<section name="MISC">
@@ -268,7 +268,7 @@
<subsystem name="ins" type="hff"/>
</firmware>
<firmware name="lisa_l_test_progs">
<firmware name="lisa_test_progs">
<target name="test_led" board="lisa_l_1.0"/>
<target name="test_uart" board="lisa_l_1.0"/>
<target name="test_servos" board="lisa_l_1.0"/>
conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
+5 -5
View File
@@ -127,7 +127,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.03"/>
<define name="ALTITUDE_PGAIN" value="0.03"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -138,7 +138,7 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
@@ -146,7 +146,7 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.20000004768"/>
<define name="COURSE_PGAIN" value="1.20000004768"/>
<define name="COURSE_DGAIN" value="0.3"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
@@ -154,14 +154,14 @@
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-12000."/>
<define name="PITCH_PGAIN" value="12000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1000."/>
<define name="ROLL_SLEW" value="1."/>
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
<define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="0."/>
</section>
conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
+27 -27
View File
@@ -76,9 +76,9 @@
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
@@ -108,30 +108,30 @@
<!-- feedback gains for better endurance -->
<!--
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-400"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-380"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-75"/>
<define name="PSI_PGAIN" value="380"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="75"/>
-->
<!-- feedback gains for better performance -->
<define name="PHI_PGAIN" value="-2000"/>
<define name="PHI_DGAIN" value="-400"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="2000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-2000"/>
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="2000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-1000"/>
<define name="PSI_DGAIN" value="-350"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="1000"/>
<define name="PSI_DGAIN" value="350"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
@@ -160,9 +160,9 @@
<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="-500"/>
<define name="HOVER_KD" value="-250"/>
<define name="HOVER_KI" value="-100"/>
<define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="250"/>
<define name="HOVER_KI" value="100"/>
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
@@ -171,9 +171,9 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
+27 -27
View File
@@ -76,9 +76,9 @@
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
@@ -109,31 +109,31 @@
<!-- feedback gains for better endurance -->
<!--
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-400"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-380"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-75"/>
<define name="PSI_PGAIN" value="380"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="75"/>
-->
<!-- feedback gains for better performance -->
<define name="PHI_PGAIN" value="-2000"/>
<define name="PHI_DGAIN" value="-400"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="2000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-2000"/>
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="2000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-1000"/>
<define name="PSI_DGAIN" value="-350"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="1000"/>
<define name="PSI_DGAIN" value="350"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
@@ -178,9 +178,9 @@
<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="-500"/>
<define name="HOVER_KD" value="-250"/>
<define name="HOVER_KI" value="-100"/>
<define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="250"/>
<define name="HOVER_KI" value="100"/>
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
@@ -189,9 +189,9 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
conf/airframes/Poine/booz2_a1.xml
+18 -18
View File
@@ -90,9 +90,9 @@
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
@@ -122,17 +122,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-400"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-380"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-75"/>
<define name="PSI_PGAIN" value="380"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="75"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
@@ -151,9 +151,9 @@
<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="-500"/>
<define name="HOVER_KD" value="-200"/>
<define name="HOVER_KI" value="-100"/>
<define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="200"/>
<define name="HOVER_KI" value="100"/>
<!-- 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% -->
@@ -163,9 +163,9 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
<section name="BAT">
conf/airframes/Poine/booz2_a1p.xml
+18 -18
View File
@@ -88,9 +88,9 @@
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
@@ -120,17 +120,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-400"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-380"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-75"/>
<define name="PSI_PGAIN" value="380"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="75"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
@@ -155,9 +155,9 @@
<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="-500"/>
<define name="HOVER_KD" value="-200"/>
<define name="HOVER_KI" value="-100"/>
<define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="200"/>
<define name="HOVER_KI" value="100"/>
<!-- 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% -->
@@ -167,9 +167,9 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
<section name="BAT">
conf/airframes/Poine/booz2_a7.xml
+30 -30
View File
@@ -84,9 +84,9 @@
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
@@ -115,17 +115,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- gaui props
<define name="PHI_PGAIN" value="-900"/>
<define name="PHI_DGAIN" value="-200"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="900"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-900"/>
<define name="THETA_DGAIN" value="-200"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="900"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-900"/>
<define name="PSI_DGAIN" value="-200"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="900"/>
<define name="PSI_DGAIN" value="200"/>
<define name="PSI_IGAIN" value="10"/>
<define name="PHI_DDGAIN" value=" 200"/>
<define name="THETA_DDGAIN" value=" 200"/>
@@ -133,17 +133,17 @@
-->
<!-- feedback -->
<define name="PHI_PGAIN" value="-2000"/>
<define name="PHI_DGAIN" value="-400"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="2000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-2000"/>
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="2000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-2000"/>
<define name="PSI_DGAIN" value="-400"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="2000"/>
<define name="PSI_DGAIN" value="400"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
@@ -172,12 +172,12 @@
<define name="MAX_SUM_ERR" value="2000000"/>
<!--
<define name="HOVER_KP" value="-500"/>
<define name="HOVER_KD" value="-200"/>
<define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="200"/>
<define name="HOVER_KI" value="0"/>
-->
<define name="HOVER_KP" value="-150"/>
<define name="HOVER_KD" value="-80"/>
<define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
@@ -189,10 +189,10 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-50"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-15"/>
<define name="NGAIN" value="-0"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="15"/>
<define name="NGAIN" value="0"/>
</section>
<section name="MISC">
@@ -237,7 +237,7 @@
<subsystem name="ins" type="hff"/>
</firmware>
<firmware name="lisa_l_test_progs">
<firmware name="lisa_test_progs">
<target name="test_led" board="lisa_l_1.0"/>
<target name="test_uart" board="lisa_l_1.0"/>
<target name="test_servos" board="lisa_l_1.0"/>
conf/airframes/Poine/booz2_a8.xml
+1 -1
View File
@@ -206,7 +206,7 @@
</firmware>
<firmware name="lisa_l_test_progs">
<firmware name="lisa_test_progs">
<target name="test_telemetry" board="lisa_l_1.0">
<configure name="MODEM_PORT" value="UART2"/>
</target>
conf/airframes/Poine/easy_glider1.xml
+6 -6
View File
@@ -94,7 +94,7 @@
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.03"/>
<define name="ALTITUDE_PGAIN" value="0.03"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -105,7 +105,7 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
@@ -113,21 +113,21 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.10800004005"/>
<define name="COURSE_PGAIN" value="1.10800004005"/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-15184.5644531"/>
<define name="PITCH_PGAIN" value="15184.5644531"/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/>
<define name="ROLL_SLEW" value="0.1"/>
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/>
<define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="1500"/>
</section>
<section name="NAV">
conf/airframes/Poine/funjet42.xml
+6 -6
View File
@@ -24,7 +24,7 @@
<load name="infrared_adc.xml"/>
</modules>
<firmware name="lisa_l_test_progs">
<firmware name="lisa_test_progs">
<target name="tunnel" board="lisa_l_1.0"/>
<target name="test_led" board="lisa_l_1.0"/>
<target name="test_uart" board="lisa_l_1.0"/>
@@ -118,7 +118,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
<define name="ALTITUDE_PGAIN" value="0.06"/> <!-- -0.024 -->
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -127,12 +127,12 @@
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
<define name="AUTO_THROTTLE_PGAIN" value="0.023"/> <!-- -0.012 -->
<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
<define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -141,14 +141,14 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.9"/>
<define name="COURSE_PGAIN" value="0.9"/>
<define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/> <!-- 0.5 -->
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_PGAIN" value="6600."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-5500."/>
<define name="PITCH_PGAIN" value="5500."/>
<define name="PITCH_DGAIN" value="0.4"/>
<define name="ELEVATOR_OF_ROLL" value="2400"/>

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