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Merge remote-tracking branch 'paparazzi/conf_cleanup' into conf_cleanup

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Conflicts:
	conf/conf.xml.example
This commit is contained in:
Gautier Hattenberger
2012-05-09 00:39:35 +02:00
parent 093f894567 a3a7a47e3f
commit 6909581752
4 changed files with 28 additions and 25 deletions
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conf/airframes/examples/quadrotor_lisa_m_2_pwm.xml
+15 -2
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@@ -22,6 +22,13 @@
<subsystem name="ahrs" type="int_cmpl_quat"/>
</firmware>
<servos min="0" neutral="0" max="0xff">
<servo name="FRONT" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="BACK" no="1" min="1000" neutral="1000" max="2000"/>
<servo name="RIGHT" no="2" min="1000" neutral="1000" max="2000"/>
<servo name="LEFT" no="3" min="1000" neutral="1000" max="2000"/>
</servos>
<commands>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
@@ -29,7 +36,12 @@
<axis name="THRUST" failsafe_value="0"/>
</commands>
<!-- for the sim -->
<command_laws>
<!-- command_laws is needed for pwm_supervision -->
<!-- but can be empty if no additional servos are used -->
</command_laws>
<!-- only for the nps sim -->
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
<define name="NB" value="4"/>
<!-- FRONT, BACK, RIGHT, LEFT -->
@@ -45,7 +57,7 @@
<define name="TRIM_R" value="0"/>
<define name="NB_MOTOR" value="4"/>
<define name="SCALE" value="256"/>
<!-- front/back turning CW, left/right CCW -->
<!-- front/back turning CW, right/left CCW -->
<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 }"/>
@@ -57,6 +69,7 @@
<define name="ACCEL_Y_NEUTRAL" value="11"/>
<define name="ACCEL_Z_NEUTRAL" value="-25"/>
<!-- replace this with your own calibration -->
<define name="MAG_X_NEUTRAL" value="-152"/>
<define name="MAG_Y_NEUTRAL" value="-51"/>
<define name="MAG_Z_NEUTRAL" value="10"/>