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[airframe conf] new mag calib for fraser, standard mkk motor assignments

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This commit is contained in:
Felix Ruess
2012-05-04 18:37:52 +02:00
parent 468db88dfd
commit 6057cee4ed
1 changed files with 20 additions and 34 deletions
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conf/airframes/fraser_lisa_m_rotorcraft.xml
+20 -34
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@@ -4,25 +4,17 @@
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_1.0">
<!--subsystem name="radio_control" type="spektrum"/>
<define name="RADIO_MODE" value="RADIO_AUX2"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/>
<define name="RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value="UART5"/>
<define name="OVERRIDE_UART5_IRQ_HANDLER"/-->
<subsystem name="radio_control" type="ppm"/>
<define name="ACTUATORS_START_DELAY" value="3"/>
<define name="USE_INS_NAV_INIT"/>
<configure name="AHRS_ALIGNER_LED" value="3"/>
<configure name="USE_NEW_I2C_DRIVER" value="1"/>
<define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING"/>
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="radio_control" type="ppm"/>
<!--configure name="USE_NEW_I2C_DRIVER" value="1"/-->
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
</target>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="actuators" type="mkk"/>
<subsystem name="imu" type="aspirin_v1.5"/>
@@ -60,9 +52,6 @@
<modules main_freq="512">
<load name="sys_mon.xml"/>
<load name="bat_checker.xml">
<define name="BAT_CHECKER_LED" value="4"/>
</load>
</modules>
<commands>
@@ -74,20 +63,20 @@
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
<define name="NB" value="4"/>
<!-- FRONT, BACK, LEFT, RIGHT -->
<define name="ADDR" value="{ 0x54, 0x52, 0x58, 0x56 }"/>
<!-- FRONT, BACK, RIGHT, LEFT -->
<define name="ADDR" value="{ 0x54, 0x52, 0x56, 0x58 }"/>
</section>
<section name="SUPERVISION" prefix="SUPERVISION_">
<define name="MIN_MOTOR" value="2"/>
<define name="MAX_MOTOR" value="210"/>
<define name="MAX_MOTOR" value="200"/>
<define name="TRIM_A" value="0"/>
<define name="TRIM_E" value="0"/>
<define name="TRIM_R" value="0"/>
<define name="NB_MOTOR" value="4"/>
<define name="SCALE" value="256"/>
<!-- front/back turning CCW, left/right CW -->
<define name="ROLL_COEF" value="{ 0, 0, 256, -256 }"/>
<define name="ROLL_COEF" value="{ 0, 0, -256, 256 }"/>
<define name="PITCH_COEF" value="{ 256, -256, 0, 0 }"/>
<define name="YAW_COEF" value="{ 256, 256, -256, -256 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
@@ -98,12 +87,12 @@
<define name="ACCEL_Y_NEUTRAL" value="11"/>
<define name="ACCEL_Z_NEUTRAL" value="-25"/>
<define name="MAG_X_NEUTRAL" value="-152"/>
<define name="MAG_Y_NEUTRAL" value="-51"/>
<define name="MAG_Z_NEUTRAL" value="10"/>
<define name="MAG_X_SENS" value="4.04042714046" integer="16"/>
<define name="MAG_Y_SENS" value="3.95350991963" integer="16"/>
<define name="MAG_Z_SENS" value="3.83055079257" integer="16"/>
<define name="MAG_X_NEUTRAL" value="-45"/>
<define name="MAG_Y_NEUTRAL" value="334"/>
<define name="MAG_Z_NEUTRAL" value="7"/>
<define name="MAG_X_SENS" value="4.47647816128" integer="16"/>
<define name="MAG_Y_SENS" value="4.71085671542" integer="16"/>
<define name="MAG_Z_SENS" value="4.41585354498" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
@@ -126,8 +115,8 @@
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="DEADBAND_P" value="0"/>
<define name="DEADBAND_Q" value="0"/>
<define name="DEADBAND_P" value="20"/>
<define name="DEADBAND_Q" value="20"/>
<define name="DEADBAND_R" value="200"/>
<define name="REF_TAU" value="4"/>
@@ -151,12 +140,9 @@
<!-- setpoints -->
<define name="SP_MAX_PHI" value="45." unit="deg"/>
<define name="SP_MAX_THETA" value="45." unit="deg"/>
<define name="SP_MAX_PSI" value="45." unit="deg"/>
<define name="SP_MAX_P" value="180." unit="deg/s"/>
<define name="SP_MAX_Q" value="180." unit="deg/s"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="DEADBAND_A" value="250"/>
<define name="DEADBAND_E" value="250"/>
<define name="DEADBAND_A" value="0"/>
<define name="DEADBAND_E" value="0"/>
<define name="DEADBAND_R" value="250"/>
<!-- reference -->