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minor airframe update, readability

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This commit is contained in:
Felix Ruess
2011-06-08 00:24:29 +02:00
parent 3fba82df3a
commit 5fa7c6abad
1 changed files with 52 additions and 52 deletions
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conf/airframes/flixr_discovery.xml
+52 -52
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@@ -163,7 +163,7 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
<define name="MAG_Y_SENS" value="1" integer="16"/>
<define name="MAG_Z_SENS" value="1" integer="16"/>
<!-- <define name="MAG_45_HACK" value="1"/> -->
<!-- <define name="MAG_45_HACK" value="1"/> -->
<define name="BODY_TO_IMU_PHI" value="0"/>
<define name="BODY_TO_IMU_THETA" value="0"/>
@@ -224,8 +224,9 @@ If not set before when you would enter home mode you had to flip a bit via the G
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="TRIGGER_DELAY" value="1.0"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="50.0"/>
<!-- only for spiral -->
<define name="MIN_CIRCLE_RADIUS" value="35.0"/>
<!-- The Glide definitions are used for calculating the touch down point during auto landing -->
@@ -235,36 +236,37 @@ If not set before when you would enter home mode you had to flip a bit via the G
<define name="GLIDE_PITCH" value="10." unit="deg"/>
-->
</section>
<!-- ******************* VERTICAL CONTROL ********************************** -->
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.2" unit="volt"/>
<!-- outer loop proportional gain -->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.04" unit="(m/s)/m"/>
<!-- outer loop saturation -->
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2.5" unit="m/s"/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.65" unit="%"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.50" unit="%"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.90" unit="%"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000" unit="pprz_t"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-2000" unit="pprz_t"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.05" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.007" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.20" unit="rad/(m/s)"/>
<define name="THROTTLE_SLEW_LIMITER" value="0.7" unit="s"/>
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.65" unit="%"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.50" unit="%"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.90" unit="%"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000" unit="pprz_t"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-2000" unit="pprz_t"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.05" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.007" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.20" unit="rad/(m/s)"/>
<define name="THROTTLE_SLEW_LIMITER" value="0.7" unit="s"/>
<!-- NOT YET USED auto airspeed and altitude inner loop -->
<!-- <define name="AIRSPEED_ETS_OFFSET" value="1542"/> -->
<!-- NOT YET USED auto airspeed and altitude inner loop -->
<!-- <define name="AIRSPEED_ETS_OFFSET" value="1542"/> -->
<!-- NEVER set AUTO_AIRSPEED_SETPOINT lower than airframe stall speed -->
<!-- NEVER set AUTO_AIRSPEED_SETPOINT lower than airframe stall speed -->
<!--
<!--
<define name="AUTO_AIRSPEED_SETPOINT" value="11.5" unit="m/s"/>
<define name="AUTO_AIRSPEED_PGAIN" value="0.1"/>
<define name="AUTO_AIRSPEED_IGAIN" value="0.05"/>
@@ -272,60 +274,58 @@ If not set before when you would enter home mode you had to flip a bit via the G
<define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0" unit="degree/(m/s)"/>
<define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0" unit="%/(m/s)"/>
<define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0"/>
-->
-->
<!-- investigate: if higher _AIRSPEED_SETPOINT then airframe tries to maintain a constand ground speed UNKNOWN -->
<!--
<!--
<define name="AUTO_GROUNDSPEED_SETPOINT" value="9.0" unit="m/s"/>
<define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/>
<define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>
-->
-->
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.052"/>
<define name="AUTO_PITCH_IGAIN" value="0.065"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.45"/> <!-- INVESTIGATE make it variable? so it can be set higher for a stalled landing -->
<define name="AUTO_PITCH_MIN_PITCH" value="-0.40"/>
<!-- <define name="THROTTLE_SLEW" value="0.2"/> -->
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.052"/>
<define name="AUTO_PITCH_IGAIN" value="0.065"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.45"/> <!-- INVESTIGATE make it variable? so it can be set higher for a stalled landing -->
<define name="AUTO_PITCH_MIN_PITCH" value="-0.40"/>
<!-- <define name="THROTTLE_SLEW" value="0.2"/> -->
</section>
<!-- ******************* HORIZONTAL CONTROL ******************************** -->
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.1"/>
<!-- <define name="COURSE_IGAIN" value="0.01"/> -->
<!-- <define name="COURSE_DGAIN" value="0.02"/> -->
<!-- <define name="COURSE_PRE_BANK_CORRECTION" value="0.5"/> -->
<!-- <define name="COURSE_IGAIN" value="0.01"/> -->
<!-- <define name="COURSE_DGAIN" value="0.02"/> -->
<!-- <define name="COURSE_PRE_BANK_CORRECTION" value="0.5"/> -->
<define name="ROLL_MAX_SETPOINT" value="0.80" unit="radians"/> <!-- Max Angles -->
<define name="PITCH_MAX_SETPOINT" value="0.6" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
<!-- maybe handy to avoid over corner with lots of wind and small airframe -->
<!-- <define name="COURSE_SLEW_INCREMENT" value="RadOfDeg(4)"/> -->
<!-- <define name="ROLL_PGAIN" value="7000."/> -->
<define name="ROLL_MAX_SETPOINT" value="RadOfDeg(50)" unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="RadOfDeg(35)" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="RadOfDeg(-30)" unit="radians"/>
<!-- maybe handy to avoid over corner with lots of wind and small airframe -->
<!-- <define name="COURSE_SLEW_INCREMENT" value="RadOfDeg(4)"/> -->
<define name="ROLL_ATTITUDE_GAIN" value="-7500."/><!-- Roll Angle PD control -->
<define name="ROLL_RATE_GAIN" value="-1500"/>
<!-- ROLL_PGAIN is only used when ROLL_ATTITUDE_GAIN is not defined, P control + rate loop if defined -->
<!-- <define name="ROLL_PGAIN" value="7000."/> -->
<define name="ROLL_ATTITUDE_GAIN" value="-7500."/><!-- Roll Angle PD control -->
<define name="ROLL_RATE_GAIN" value="-1500"/>
<!-- ** Maximal roll angle change per 1/60 of second ** -->
<define name="ROLL_SLEW" value="0.6"/> <!-- was 0.05 -->
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<!-- ** Maximal roll angle change per 1/60 of second ** -->
<!--define name="ROLL_SLEW" value="0.6"/--> <!-- was 0.05 -->
<define name="PITCH_PGAIN" value="-7000."/>
<define name="PITCH_DGAIN" value="1.3"/><!-- <d "1.02" was previous value -->
<define name="PITCH_IGAIN" value="-500"/> <!-- NEW -->
<!-- only for stabilization adaptive -->
<define name="PITCH_DGAIN" value="1.3"/>
<define name="PITCH_IGAIN" value="-500"/>
<define name="PITCH_KFFA" value="0."/>
<define name="PITCH_KFFD" value="0."/>
<define name="ELEVATOR_OF_ROLL" value="1500"/>
<!-- Alternative way of adding some elevator when roll initiated -->
<!-- <define name="PITCH_OF_ROLL" value="RadOfDeg(0.1)"/> -->
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="ELEVATOR_OF_ROLL" value="1500"/>
<!-- Alternative way of adding some elevator when roll initiated -->
<!-- <define name="PITCH_OF_ROLL" value="RadOfDeg(0.1)"/> -->
</section>