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rename booz2_guidance/BOOZ2_GUIDANCE and B2_GUIDANCE to guidance/GUIDANCE

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This commit is contained in:
Felix Ruess
2010-09-28 14:04:56 +00:00
parent 0891f38a48
commit 6579e914c2
54 changed files with 569 additions and 569 deletions
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conf/airframes/ENAC/quadrotor/blender.xml
+4 -4
View File
@@ -155,7 +155,7 @@
</section>
<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
@@ -175,7 +175,7 @@
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
</section>
<section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-140"/>
<define name="DGAIN" value="-90"/>
<define name="IGAIN" value="-30"/>
@@ -230,7 +230,7 @@
<makefile location="after">
ap.CFLAGS += -DB2_GUIDANCE_H_USE_REF
ap.CFLAGS += -DGUIDANCE_H_USE_REF
ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3 -DUSE_PWM1
ap.CFLAGS += -DBOOZ_ACTUATORS_MAX_THRUST=160 -DBOOZ_THRUST_LOWPASS=17
@@ -240,7 +240,7 @@ ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c
sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\"
sim.CFLAGS += -DNPS_NO_SUPERVISION
sim.CFLAGS += -DB2_GUIDANCE_H_USE_REF
sim.CFLAGS += -DGUIDANCE_H_USE_REF
sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
sim.srcs += $(SRC_BOOZ_SIM)/booz2_pwm_hw.c
conf/airframes/ENAC/quadrotor/booz2_g1.xml
+4 -4
View File
@@ -145,7 +145,7 @@
<define name="SONAR_SENS" value="2.146" integer="16"/>
</section>
<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
@@ -166,7 +166,7 @@
</section>
<section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-50"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-15"/>
@@ -223,14 +223,14 @@
<makefile location="after">
ap.CFLAGS += -DB2_GUIDANCE_H_USE_REF
ap.CFLAGS += -DGUIDANCE_H_USE_REF
ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c
sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\"
sim.CFLAGS += -DNPS_NO_SUPERVISION
sim.CFLAGS += -DB2_GUIDANCE_H_USE_REF
sim.CFLAGS += -DGUIDANCE_H_USE_REF
sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
sim.srcs += $(SRC_BOOZ_SIM)/booz2_pwm_hw.c
conf/airframes/ENAC/quadrotor/mkk1.xml
+4 -4
View File
@@ -195,7 +195,7 @@
<define name="UNTILT_ACCEL" value="1"/>
</section>
<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
@@ -215,7 +215,7 @@
</section>
<section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-60"/>
<define name="DGAIN" value="-120"/>
<define name="IGAIN" value="-10"/>
@@ -260,10 +260,10 @@
#set GPS lag for horizontal filter
#ap.CFLAGS += -DUSE_GPS_ACC4R
#ap.CFLAGS += -DB2_GUIDANCE_H_USE_REF
#ap.CFLAGS += -DGUIDANCE_H_USE_REF
ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT
#sim.CFLAGS += -DB2_GUIDANCE_H_USE_REF
#sim.CFLAGS += -DGUIDANCE_H_USE_REF
sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT
</makefile>