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[conf] TUDelft airframes

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fvantienen
2013-09-05 13:58:35 +02:00
parent 5d78d95cf6
commit 604b5e15c5
1 changed files with 17 additions and 16 deletions
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conf/airframes/examples/quadrotor_lisa_s.xml
+17 -16
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@@ -55,12 +55,12 @@
<define name="ACCEL_Z_NEUTRAL" value="0"/> <define name="ACCEL_Z_NEUTRAL" value="0"/>
<!-- MAGNETO CALIBRATION DELFT --> <!-- MAGNETO CALIBRATION DELFT -->
<define name="MAG_X_NEUTRAL" value="302"/> <define name="MAG_X_NEUTRAL" value="286"/>
<define name="MAG_Y_NEUTRAL" value="-69"/> <define name="MAG_Y_NEUTRAL" value="-72"/>
<define name="MAG_Z_NEUTRAL" value="100"/> <define name="MAG_Z_NEUTRAL" value="97"/>
<define name="MAG_X_SENS" value="4.12281780645" integer="16"/> <define name="MAG_X_SENS" value="3.94431833863" integer="16"/>
<define name="MAG_Y_SENS" value="4.2491445745" integer="16"/> <define name="MAG_Y_SENS" value="4.14629702271" integer="16"/>
<define name="MAG_Z_SENS" value="4.44132606171" integer="16"/> <define name="MAG_Z_SENS" value="4.54518768636" integer="16"/>
<!-- MAGNETO CURRENT CALIBRATION --> <!-- MAGNETO CURRENT CALIBRATION -->
<define name= "MAG_X_CURRENT_COEF" value="0.0103422023767"/> <define name= "MAG_X_CURRENT_COEF" value="0.0103422023767"/>
@@ -76,7 +76,10 @@
<section name="BAT"> <section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="14000"/> <define name="MILLIAMP_AT_FULL_THROTTLE" value="14000"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="4.3" unit="V"/> <define name="CATASTROPHIC_BAT_LEVEL" value="4.0" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="4.4" unit="V"/>
<define name="LOW_BAT_LEVEL" value="4.5" unit="V"/>
<define name="MAX_BAT_LEVEL" value="4.8" unit="V"/>
</section> </section>
@@ -99,27 +102,25 @@
<!-- setpoints --> <!-- setpoints -->
<define name="SP_MAX_PHI" value="45." unit="deg"/> <define name="SP_MAX_PHI" value="45." unit="deg"/>
<define name="SP_MAX_THETA" value="45." unit="deg"/> <define name="SP_MAX_THETA" value="45." unit="deg"/>
<define name="SP_MAX_PSI" value="45." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/> <define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="SP_MAX_P" value="90." unit="deg/s"/>
<define name="DEADBAND_R" value="250"/> <define name="DEADBAND_R" value="250"/>
<define name="DEADBAND_A" value="250"/> <define name="DEADBAND_A" value="250"/>
<!-- reference --> <!-- reference -->
<define name="REF_OMEGA_P" value="800" unit="deg/s"/> <define name="REF_OMEGA_P" value="1500" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/> <define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="400." unit="deg/s"/> <define name="REF_MAX_P" value="300." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/> <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/> <define name="REF_OMEGA_Q" value="1500" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/> <define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="400." unit="deg/s"/> <define name="REF_MAX_Q" value="300." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/> <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_R" value="500" unit="deg/s"/> <define name="REF_OMEGA_R" value="1000" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/> <define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="90." unit="deg/s"/> <define name="REF_MAX_R" value="180." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/> <define name="REF_MAX_RDOT" value="RadOfDeg(2000.)"/>
<!-- feedback --> <!-- feedback -->
<define name="PHI_PGAIN" value="399"/> <define name="PHI_PGAIN" value="399"/>