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[conf][airframes] remove obsolete RC_CLIMB_COEF and RC_CLIMB_DEAD_BAND

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This commit is contained in:
Felix Ruess
2013-09-15 21:43:07 +02:00
parent 91678391d0
commit 6b7fdd25a7
75 changed files with 0 additions and 248 deletions
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conf/airframes/CDW/asctec_cdw.xml
-4
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@@ -182,10 +182,6 @@
<define name="HOVER_KP" value="500"/> <define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="200"/> <define name="HOVER_KD" value="200"/>
<define name="HOVER_KI" value="100"/> <define name="HOVER_KI" value="100"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value="160000"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.4"/> <define name="NOMINAL_HOVER_THROTTLE" value="0.4"/>
</section> </section>
conf/airframes/CDW/tricopter_cdw.xml
-4
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@@ -179,10 +179,6 @@ LiPo/LiIo-Zellen: 2-3
<define name="HOVER_KP" value="500"/> <define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="200"/> <define name="HOVER_KD" value="200"/>
<define name="HOVER_KI" value="100"/> <define name="HOVER_KI" value="100"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value="160000"/>
</section> </section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
conf/airframes/ENAC/quadrotor/blender.xml
-2
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@@ -225,9 +225,7 @@
<define name="HOVER_KD" value="80"/> <define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="0"/> <define name="HOVER_KI" value="0"/>
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) --> <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- SPEED_BFP_OF_REAL(1.5) * 20% --> <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="ADAPT_NOISE_FACTOR" value="1.5"/> <define name="ADAPT_NOISE_FACTOR" value="1.5"/>
</section> </section>
conf/airframes/ENAC/quadrotor/booz2_g1.xml
-2
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@@ -199,9 +199,7 @@
<define name="HOVER_KD" value="80"/> <define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="0"/> <define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) --> <!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- SPEED_BFP_OF_REAL(1.5) * 20% --> <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
</section> </section>
conf/airframes/ENAC/quadrotor/hen1.xml
-2
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@@ -205,9 +205,7 @@
<define name="HOVER_KD" value="80"/> <define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="0"/> <define name="HOVER_KI" value="0"/>
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) --> <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value="163"/>
<!-- SPEED_BFP_OF_REAL(1.5) * 20% --> <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value="160000"/>
<define name="ADAPT_NOISE_FACTOR" value="1.5"/> <define name="ADAPT_NOISE_FACTOR" value="1.5"/>
</section> </section>
conf/airframes/NoVa_L.xml
-4
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@@ -208,10 +208,6 @@
<define name="HOVER_KD" value="80"/> <define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="0"/> <define name="HOVER_KI" value="0"/>
--> -->
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
</section> </section>
conf/airframes/TUDelft/IMAV2013/ardrone2_raw.xml
-4
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@@ -176,10 +176,6 @@
<define name="HOVER_KP" value="283"/> <define name="HOVER_KP" value="283"/>
<define name="HOVER_KD" value="82"/> <define name="HOVER_KD" value="82"/>
<define name="HOVER_KI" value="13"/> <define name="HOVER_KI" value="13"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value="160000"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.655"/> <define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/> <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
</section> </section>
conf/airframes/TUDelft/IMAV2013/chouchou_lisa_s.xml
-4
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@@ -157,10 +157,6 @@
<define name="HOVER_KP" value="400"/> <define name="HOVER_KP" value="400"/>
<define name="HOVER_KD" value="350"/> <define name="HOVER_KD" value="350"/>
<define name="HOVER_KI" value="144"/> <define name="HOVER_KI" value="144"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value="160000"/>
<define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.9"/> <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.9"/>
</section> </section>
conf/airframes/TUDelft/IMAV2013/quadrotor_lisa_s.xml
-4
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@@ -159,10 +159,6 @@
<define name="HOVER_KP" value="400"/> <define name="HOVER_KP" value="400"/>
<define name="HOVER_KD" value="350"/> <define name="HOVER_KD" value="350"/>
<define name="HOVER_KI" value="144"/> <define name="HOVER_KI" value="144"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value="160000"/>
<define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.9"/> <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.9"/>
</section> </section>
conf/airframes/TUDelft/IMAV2013/walkera_V120D02S.xml
-4
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@@ -143,10 +143,6 @@
<define name="HOVER_KP" value="281"/> <define name="HOVER_KP" value="281"/>
<define name="HOVER_KD" value="66"/> <define name="HOVER_KD" value="66"/>
<define name="HOVER_KI" value="0"/> <define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value="160000"/>
<define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.9"/> <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.9"/>
</section> </section>
conf/airframes/TUDelft/IMAV2013/walkera_genius_v1.xml
-4
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@@ -146,10 +146,6 @@
<define name="HOVER_KP" value="281"/> <define name="HOVER_KP" value="281"/>
<define name="HOVER_KD" value="66"/> <define name="HOVER_KD" value="66"/>
<define name="HOVER_KI" value="0"/> <define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value="160000"/>
<define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.9"/> <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.9"/>
</section> </section>
conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml
-4
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@@ -234,10 +234,6 @@
<define name="HOVER_KD" value="80"/> <define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="0"/> <define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
</section> </section>
conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
-4
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@@ -234,10 +234,6 @@
<define name="HOVER_KD" value="80"/> <define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="0"/> <define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
</section> </section>
conf/airframes/ardrone2_raw.xml
-4
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@@ -186,10 +186,6 @@
<define name="HOVER_KP" value="283"/> <define name="HOVER_KP" value="283"/>
<define name="HOVER_KD" value="82"/> <define name="HOVER_KD" value="82"/>
<define name="HOVER_KI" value="13"/> <define name="HOVER_KI" value="13"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value="160000"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.655"/> <define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/> <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
</section> </section>
conf/airframes/ardrone2_sdk.xml
-4
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@@ -81,10 +81,6 @@
<define name="HOVER_KP" value="425" /> <define name="HOVER_KP" value="425" />
<define name="HOVER_KD" value="200" /> <define name="HOVER_KD" value="200" />
<define name="HOVER_KI" value="125" /> <define name="HOVER_KI" value="125" />
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value="163" />
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value="160000" />
<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/> <define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/> <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
</section> </section>
conf/airframes/booz2_flixr.xml
-2
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@@ -204,9 +204,7 @@
<define name="HOVER_KD" value="60"/> <define name="HOVER_KD" value="60"/>
<define name="HOVER_KI" value="10"/> <define name="HOVER_KI" value="10"/>
<!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) --> <!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value="163" />
<!-- SPEED_BFP_OF_REAL(1.5) * 20% --> <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value="160000" />
</section> </section>
conf/airframes/booz2_ppzuav.xml
-2
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@@ -164,9 +164,7 @@
<define name="HOVER_KD" value="80"/> <define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="0"/> <define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) --> <!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- SPEED_BFP_OF_REAL(1.5) * 20% --> <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
</section> </section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
conf/airframes/esden/cocto_lm2a2.xml
-4
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@@ -182,10 +182,6 @@ B2L -> CW
<define name="HOVER_KP" value="400"/> <define name="HOVER_KP" value="400"/>
<define name="HOVER_KD" value="350"/> <define name="HOVER_KD" value="350"/>
<define name="HOVER_KI" value="144"/> <define name="HOVER_KI" value="144"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/> <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/>
</section> </section>
conf/airframes/esden/gain_scheduling_example.xml
-2
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@@ -165,8 +165,6 @@
<define name="HOVER_KP" value="200"/> <define name="HOVER_KP" value="200"/>
<define name="HOVER_KD" value="175"/> <define name="HOVER_KD" value="175"/>
<define name="HOVER_KI" value="72"/> <define name="HOVER_KI" value="72"/>
<define name="RC_CLIMB_COEF" value ="163"/>
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/> <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/>
</section> </section>
conf/airframes/esden/hexy_ll11a2pwm.xml
-4
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@@ -179,10 +179,6 @@
<define name="HOVER_KP" value="830"/> <define name="HOVER_KP" value="830"/>
<define name="HOVER_KD" value="650"/> <define name="HOVER_KD" value="650"/>
<define name="HOVER_KI" value="100"/> <define name="HOVER_KI" value="100"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<!--define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/--> <!--define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/-->
</section> </section>
conf/airframes/esden/hexy_lm2a2pwm.xml
-4
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@@ -140,10 +140,6 @@
<define name="HOVER_KP" value="830"/> <define name="HOVER_KP" value="830"/>
<define name="HOVER_KD" value="650"/> <define name="HOVER_KD" value="650"/>
<define name="HOVER_KI" value="100"/> <define name="HOVER_KI" value="100"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<!--define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/--> <!--define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/-->
</section> </section>
conf/airframes/esden/lisa2_hex.xml
-4
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@@ -147,10 +147,6 @@
<define name="HOVER_KP" value="830"/> <define name="HOVER_KP" value="830"/>
<define name="HOVER_KD" value="650"/> <define name="HOVER_KD" value="650"/>
<define name="HOVER_KI" value="100"/> <define name="HOVER_KI" value="100"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<!--define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/--> <!--define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/-->
</section> </section>
conf/airframes/esden/qs_asp22.xml
-2
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@@ -173,8 +173,6 @@
<define name="HOVER_KP" value="200"/> <define name="HOVER_KP" value="200"/>
<define name="HOVER_KD" value="175"/> <define name="HOVER_KD" value="175"/>
<define name="HOVER_KI" value="72"/> <define name="HOVER_KI" value="72"/>
<define name="RC_CLIMB_COEF" value ="163"/>
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<!-- <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.3"/> --> <!-- <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.3"/> -->
</section> </section>
conf/airframes/esden/quady_ll11a2pwm.xml
-4
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@@ -175,10 +175,6 @@
<define name="HOVER_KP" value="830"/> <define name="HOVER_KP" value="830"/>
<define name="HOVER_KD" value="650"/> <define name="HOVER_KD" value="650"/>
<define name="HOVER_KI" value="100"/> <define name="HOVER_KI" value="100"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<!--define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/--> <!--define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/-->
</section> </section>
conf/airframes/esden/quady_lm1a1pwm.xml
-4
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@@ -136,10 +136,6 @@
<define name="HOVER_KP" value="400"/> <define name="HOVER_KP" value="400"/>
<define name="HOVER_KD" value="350"/> <define name="HOVER_KD" value="350"/>
<define name="HOVER_KI" value="144"/> <define name="HOVER_KI" value="144"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/> <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/>
</section> </section>
conf/airframes/esden/quady_lm2a2pwm.xml
-4
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@@ -139,10 +139,6 @@
<define name="HOVER_KP" value="400"/> <define name="HOVER_KP" value="400"/>
<define name="HOVER_KD" value="350"/> <define name="HOVER_KD" value="350"/>
<define name="HOVER_KI" value="144"/> <define name="HOVER_KI" value="144"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/> <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/>
</section> </section>
conf/airframes/esden/quady_lm2a2pwmppm.xml
-4
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@@ -136,10 +136,6 @@
<define name="HOVER_KP" value="400"/> <define name="HOVER_KP" value="400"/>
<define name="HOVER_KD" value="350"/> <define name="HOVER_KD" value="350"/>
<define name="HOVER_KI" value="144"/> <define name="HOVER_KI" value="144"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/> <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/>
</section> </section>
conf/airframes/esden/quady_ls01pwm.xml
-4
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@@ -139,10 +139,6 @@
<define name="HOVER_KP" value="400"/> <define name="HOVER_KP" value="400"/>
<define name="HOVER_KD" value="350"/> <define name="HOVER_KD" value="350"/>
<define name="HOVER_KI" value="144"/> <define name="HOVER_KI" value="144"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/> <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/>
</section> </section>
conf/airframes/examples/booz2.xml
-4
View File
@@ -160,10 +160,6 @@
<define name="HOVER_KP" value="500"/> <define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="200"/> <define name="HOVER_KD" value="200"/>
<define name="HOVER_KI" value="100"/> <define name="HOVER_KI" value="100"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
</section> </section>
conf/airframes/examples/h_hex.xml
-4
View File
@@ -159,10 +159,6 @@
<define name="HOVER_KP" value="500"/> <define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="200"/> <define name="HOVER_KD" value="200"/>
<define name="HOVER_KI" value="100"/> <define name="HOVER_KI" value="100"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.4"/> <define name="NOMINAL_HOVER_THROTTLE" value="0.4"/>
</section> </section>
conf/airframes/examples/krooz_sd/krooz_sd_hexa_mkk.xml
-2
View File
@@ -206,9 +206,7 @@
<define name="HOVER_KP" value="120"/> <define name="HOVER_KP" value="120"/>
<define name="HOVER_KD" value="80"/> <define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/> <define name="HOVER_KI" value="20"/>
<define name="RC_CLIMB_COEF" value ="500"/>
<define name="RC_DESCENT_COEF" value ="200"/> <define name="RC_DESCENT_COEF" value ="200"/>
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
</section> </section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
conf/airframes/examples/krooz_sd/krooz_sd_okto_mkk.xml
-2
View File
@@ -209,9 +209,7 @@
<define name="HOVER_KP" value="120"/> <define name="HOVER_KP" value="120"/>
<define name="HOVER_KD" value="80"/> <define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/> <define name="HOVER_KI" value="20"/>
<define name="RC_CLIMB_COEF" value ="500"/>
<define name="RC_DESCENT_COEF" value ="200"/> <define name="RC_DESCENT_COEF" value ="200"/>
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
</section> </section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
conf/airframes/examples/krooz_sd/krooz_sd_quad_pwm.xml
-2
View File
@@ -194,9 +194,7 @@
<define name="HOVER_KP" value="120"/> <define name="HOVER_KP" value="120"/>
<define name="HOVER_KD" value="80"/> <define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/> <define name="HOVER_KI" value="20"/>
<define name="RC_CLIMB_COEF" value ="500"/>
<define name="RC_DESCENT_COEF" value ="200"/> <define name="RC_DESCENT_COEF" value ="200"/>
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
</section> </section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
conf/airframes/examples/lisa_asctec.xml
-4
View File
@@ -158,10 +158,6 @@
<define name="HOVER_KP" value="500"/> <define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="200"/> <define name="HOVER_KD" value="200"/>
<define name="HOVER_KI" value="100"/> <define name="HOVER_KI" value="100"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.4"/> <define name="NOMINAL_HOVER_THROTTLE" value="0.4"/>
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/> <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
</section> </section>
conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
-4
View File
@@ -184,10 +184,6 @@
<define name="HOVER_KP" value="150"/> <define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/> <define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/> <define name="HOVER_KI" value="20"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/> <define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/> <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section> </section>
conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum_geo_mag.xml
-4
View File
@@ -187,10 +187,6 @@
<define name="HOVER_KP" value="150"/> <define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/> <define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/> <define name="HOVER_KI" value="20"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<!-- NOMINAL_HOVER_THROTTLE sets a fixed value instead of the adaptive estimation --> <!-- NOMINAL_HOVER_THROTTLE sets a fixed value instead of the adaptive estimation -->
<!--define name="NOMINAL_HOVER_THROTTLE" value="0.5"/--> <!--define name="NOMINAL_HOVER_THROTTLE" value="0.5"/-->
</section> </section>
conf/airframes/examples/quadrotor_lisa_m_mkk.xml
-4
View File
@@ -176,10 +176,6 @@
<define name="HOVER_KP" value="150"/> <define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/> <define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/> <define name="HOVER_KI" value="20"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/> <define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/> <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section> </section>
conf/airframes/examples/quadrotor_lisa_s.xml
-4
View File
@@ -158,10 +158,6 @@
<define name="HOVER_KP" value="400"/> <define name="HOVER_KP" value="400"/>
<define name="HOVER_KD" value="350"/> <define name="HOVER_KD" value="350"/>
<define name="HOVER_KI" value="144"/> <define name="HOVER_KI" value="144"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value="160000"/>
<define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.9"/> <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.9"/>
</section> </section>
conf/airframes/examples/quadrotor_mlkf.xml
-4
View File
@@ -186,10 +186,6 @@
<define name="HOVER_KP" value="150"/> <define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/> <define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/> <define name="HOVER_KI" value="20"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/> <define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/> <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section> </section>
conf/airframes/examples/quadrotor_navgo.xml
-2
View File
@@ -208,9 +208,7 @@
<define name="HOVER_KD" value="80"/> <define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="0"/> <define name="HOVER_KI" value="0"/>
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) --> <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- SPEED_BFP_OF_REAL(1.5) * 20% --> <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="ADAPT_NOISE_FACTOR" value="1.5"/> <define name="ADAPT_NOISE_FACTOR" value="1.5"/>
</section> </section>
conf/airframes/examples/quadrotor_px4fmu.xml
-4
View File
@@ -180,10 +180,6 @@
<define name="HOVER_KP" value="150"/> <define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/> <define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/> <define name="HOVER_KI" value="20"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<!-- NOMINAL_HOVER_THROTTLE sets a fixed value instead of the adaptive estimation --> <!-- NOMINAL_HOVER_THROTTLE sets a fixed value instead of the adaptive estimation -->
<!--define name="NOMINAL_HOVER_THROTTLE" value="0.5"/--> <!--define name="NOMINAL_HOVER_THROTTLE" value="0.5"/-->
</section> </section>
conf/airframes/examples/quadshot_asp21_spektrum.xml
-2
View File
@@ -197,8 +197,6 @@ More information on the Quadshot can be found at transition-robotics.com -->
<define name="HOVER_KP" value="200"/> <define name="HOVER_KP" value="200"/>
<define name="HOVER_KD" value="175"/> <define name="HOVER_KD" value="175"/>
<define name="HOVER_KI" value="72"/> <define name="HOVER_KI" value="72"/>
<define name="RC_CLIMB_COEF" value ="163"/>
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="NOMINAL_HOVER_THROTTLE" value ="0.4"/> <define name="NOMINAL_HOVER_THROTTLE" value ="0.4"/>
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/> <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
</section> </section>
conf/airframes/examples/stm32f4_discovery_test.xml
-4
View File
@@ -182,10 +182,6 @@
<define name="HOVER_KP" value="150"/> <define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/> <define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/> <define name="HOVER_KI" value="20"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<!--define name="NOMINAL_HOVER_THROTTLE" value="0.5"/--> <!--define name="NOMINAL_HOVER_THROTTLE" value="0.5"/-->
</section> </section>
conf/airframes/fraser_lisa_m_rotorcraft.xml
-4
View File
@@ -220,10 +220,6 @@
<define name="HOVER_KP" value="120"/> <define name="HOVER_KP" value="120"/>
<define name="HOVER_KD" value="100"/> <define name="HOVER_KD" value="100"/>
<define name="HOVER_KI" value="20"/> <define name="HOVER_KI" value="20"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.38"/> <define name="NOMINAL_HOVER_THROTTLE" value="0.38"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/> <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section> </section>
conf/airframes/obsolete/ENAC/g1_vision.xml
-2
View File
@@ -156,9 +156,7 @@
<define name="HOVER_KD" value="80"/> <define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="0"/> <define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) --> <!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- SPEED_BFP_OF_REAL(1.5) * 20% --> <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<!-- <define name="INV_M" value="0.118"/> --> <!-- <define name="INV_M" value="0.118"/> -->
</section> </section>
conf/airframes/obsolete/ENAC/mkk1-vision.xml
-4
View File
@@ -189,10 +189,6 @@
<define name="HOVER_KP" value="200"/> <define name="HOVER_KP" value="200"/>
<define name="HOVER_KD" value="100"/> <define name="HOVER_KD" value="100"/>
<define name="HOVER_KI" value="0"/> <define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
</section> </section>
conf/airframes/obsolete/ENAC/mkk1.xml
-4
View File
@@ -209,10 +209,6 @@
<define name="HOVER_KP" value="200"/> <define name="HOVER_KP" value="200"/>
<define name="HOVER_KD" value="100"/> <define name="HOVER_KD" value="100"/>
<define name="HOVER_KI" value="0"/> <define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
</section> </section>
conf/airframes/obsolete/ENAC/nova1.xml
-4
View File
@@ -180,10 +180,6 @@
<define name="HOVER_KP" value="200"/> <define name="HOVER_KP" value="200"/>
<define name="HOVER_KD" value="100"/> <define name="HOVER_KD" value="100"/>
<define name="HOVER_KI" value="0"/> <define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
</section> </section>
conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
-2
View File
@@ -164,9 +164,7 @@
<define name="HOVER_KD" value="250"/> <define name="HOVER_KD" value="250"/>
<define name="HOVER_KI" value="100"/> <define name="HOVER_KI" value="100"/>
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) --> <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- SPEED_BFP_OF_REAL(1.5) * 20% --> <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
</section> </section>
conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
-2
View File
@@ -182,9 +182,7 @@
<define name="HOVER_KD" value="250"/> <define name="HOVER_KD" value="250"/>
<define name="HOVER_KI" value="100"/> <define name="HOVER_KI" value="100"/>
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) --> <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- SPEED_BFP_OF_REAL(1.5) * 20% --> <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
</section> </section>

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