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Merge branch 'dev' into locm3

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* this also brings all changes from 4.0_beta
This commit is contained in:
Felix Ruess
2012-03-26 19:31:58 +02:00
parent 52d2f88a11 896c84ebec
commit 7a8d0eb5fc
292 changed files with 4044 additions and 3161 deletions
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Makefile
+1 -5
View File
@@ -243,7 +243,6 @@ clean:
$(Q)make -C sw/ext clean
$(Q)find . -name '*~' -exec rm -f {} \;
$(Q)rm -f paparazzi sw/simulator/launchsitl
$(Q)rm -rf tests/results/*
cleanspaces:
find ./sw/airborne -name '*.[ch]' -exec sed -i {} -e 's/[ \t]*$$//' \;
@@ -279,8 +278,5 @@ sw/simulator/launchsitl:
chmod a+x $@
test: all replace_current_conf_xml
cd tests; $(MAKE) $(@)
test_all_example_airframes: replace_current_conf_xml
cd tests; $(MAKE) $(@) TARGET_BOARD=examples
cd tests; $(MAKE) test
Makefile.ac
+6 -4
View File
@@ -38,7 +38,7 @@ PERIODIC_FREQ = 60
endif
AIRFRAME_H=$(AC_GENERATED)/airframe.h
PERIODIC_H=$(AC_GENERATED)/periodic.h
PERIODIC_H=$(AC_GENERATED)/periodic_telemetry.h
RADIO_H=$(AC_GENERATED)/radio.h
FLIGHT_PLAN_H=$(AC_GENERATED)/flight_plan.h
FLIGHT_PLAN_XML=$(ACINCLUDE)/flight_plan.xml
@@ -46,6 +46,7 @@ SETTINGS_H=$(AC_GENERATED)/settings.h
SETTINGS_XMLS=$(patsubst %,$(CONF)/%,$(SETTINGS))
SETTINGS_XML=$(ACINCLUDE)/settings.xml
SETTINGS_MODULES=$(ACINCLUDE)/settings_modules.xml
SETTINGS_TELEMETRY=$(ACINCLUDE)/settings_telemetry.xml
MAKEFILE_AC=$(ACINCLUDE)/Makefile.ac
SETTINGS_FILE=$(SETTINGS:settings%=%)
#TUNING_FILE=$(subst ,_,$(SETTINGS:settings/%.xml=%)).h
@@ -99,7 +100,7 @@ $(RADIO_H) : $(CONF)/$(RADIO) $(CONF_XML) $(TOOLS)/gen_radio.out
$(PERIODIC_H) : $(CONF)/$(AIRFRAME_XML) $(MESSAGES_XML) $(CONF_XML) $(CONF)/$(TELEMETRY) $(MAKEFILE_AC)
$(Q)test -d $(AC_GENERATED) || mkdir -p $(AC_GENERATED)
@echo BUILD $@
$(Q)$(TOOLS)/gen_periodic.out $(CONF)/$(AIRFRAME_XML) $(MESSAGES_XML) $(CONF)/$(TELEMETRY) $(PERIODIC_FREQ) > $@
$(Q)$(TOOLS)/gen_periodic.out $(CONF)/$(AIRFRAME_XML) $(MESSAGES_XML) $(CONF)/$(TELEMETRY) $(PERIODIC_FREQ) $(SETTINGS_TELEMETRY) > $@
$(Q)chmod a+r $@
$(Q)cp $< $(AIRCRAFT_CONF_DIR)
$(Q)cp $(CONF)/$(TELEMETRY) $(AIRCRAFT_CONF_DIR)/telemetry
@@ -117,10 +118,10 @@ $(FLIGHT_PLAN_XML) : $(CONF)/$(FLIGHT_PLAN) $(CONF_XML) $(TOOLS)/gen_flight_plan
$(Q)$(TOOLS)/gen_flight_plan.out -dump $< > $@
$(Q)chmod a+r $@
$(SETTINGS_H) : $(SETTINGS_XMLS) $(CONF_XML) $(SETTINGS_MODULES) $(TOOLS)/gen_settings.out
$(SETTINGS_H) : $(SETTINGS_XMLS) $(CONF_XML) $(SETTINGS_MODULES) $(SETTINGS_TELEMETRY) $(TOOLS)/gen_settings.out
$(Q)test -d $(AC_GENERATED) || mkdir -p $(AC_GENERATED)
@echo BUILD $@
$(Q)$(TOOLS)/gen_settings.out $(SETTINGS_XML) $(SETTINGS_XMLS) $(SETTINGS_MODULES) > $@
$(Q)$(TOOLS)/gen_settings.out $(SETTINGS_XML) $(SETTINGS_XMLS) $(SETTINGS_MODULES) $(SETTINGS_TELEMETRY) > $@
$(Q)chmod a+r $@
$(Q)cp $(SETTINGS_XMLS) $(AIRCRAFT_CONF_DIR)/settings
@@ -136,6 +137,7 @@ $(MODULES_H) : $(CONF)/$(AIRFRAME_XML) $(TOOLS)/gen_modules.out $(CONF)/modules/
$(Q)chmod a+r $@
$(SETTINGS_MODULES) : $(MODULES_H)
$(SETTINGS_TELEMETRY) : $(PERIODIC_H)
%.ac_h : $(TOOLS)/gen_aircraft.out
$(Q)if (expr "$(AIRCRAFT)"); then : ; else echo "AIRCRAFT undefined: type 'make AIRCRAFT=AircraftName ...'"; exit 1; fi
conf/airframes/CDW/ChimuLisaFw.xml
+6 -6
View File
@@ -66,7 +66,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.03"/>
<define name="ALTITUDE_PGAIN" value="0.03"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -77,7 +77,7 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
@@ -85,21 +85,21 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.4"/>
<define name="COURSE_PGAIN" value="1.4"/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-12000."/>
<define name="PITCH_PGAIN" value="12000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/>
<define name="ROLL_SLEW" value="0.1"/>
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/>
<define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="1500"/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
conf/airframes/CDW/ChimuTinyFw.xml
+6 -6
View File
@@ -90,7 +90,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.03"/>
<define name="ALTITUDE_PGAIN" value="0.03"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -101,7 +101,7 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
@@ -109,7 +109,7 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.20000004768"/>
<define name="COURSE_PGAIN" value="1.20000004768"/>
<define name="COURSE_DGAIN" value="0.3"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
@@ -117,13 +117,13 @@
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-12000."/>
<define name="PITCH_PGAIN" value="12000."/>
<define name="PITCH_DGAIN" value="0"/>
<define name="ELEVATOR_OF_ROLL" value="1000."/>
<define name="ROLL_ATTITUDE_GAIN" value="-11500"/>
<define name="ROLL_RATE_GAIN" value="-600."/>
<define name="ROLL_ATTITUDE_GAIN" value="11500"/>
<define name="ROLL_RATE_GAIN" value="600."/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
conf/airframes/CDW/ChimuTinyFwSpi.xml
+6 -6
View File
@@ -90,7 +90,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.03"/>
<define name="ALTITUDE_PGAIN" value="0.03"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -101,7 +101,7 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
@@ -109,7 +109,7 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.20000004768"/>
<define name="COURSE_PGAIN" value="1.20000004768"/>
<define name="COURSE_DGAIN" value="0.3"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
@@ -117,13 +117,13 @@
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-12000."/>
<define name="PITCH_PGAIN" value="12000."/>
<define name="PITCH_DGAIN" value="0"/>
<define name="ELEVATOR_OF_ROLL" value="1000."/>
<define name="ROLL_ATTITUDE_GAIN" value="-11500"/>
<define name="ROLL_RATE_GAIN" value="-600."/>
<define name="ROLL_ATTITUDE_GAIN" value="11500"/>
<define name="ROLL_RATE_GAIN" value="600."/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
conf/airframes/CDW/debug_i2c.xml
+29 -29
View File
@@ -84,9 +84,9 @@
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
@@ -115,17 +115,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- gaui props
<define name="PHI_PGAIN" value="-900"/>
<define name="PHI_DGAIN" value="-200"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="900"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-900"/>
<define name="THETA_DGAIN" value="-200"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="900"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-900"/>
<define name="PSI_DGAIN" value="-200"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="900"/>
<define name="PSI_DGAIN" value="200"/>
<define name="PSI_IGAIN" value="10"/>
<define name="PHI_DDGAIN" value=" 200"/>
<define name="THETA_DDGAIN" value=" 200"/>
@@ -133,17 +133,17 @@
-->
<!-- feedback -->
<define name="PHI_PGAIN" value="-2000"/>
<define name="PHI_DGAIN" value="-400"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="2000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-2000"/>
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="2000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-2000"/>
<define name="PSI_DGAIN" value="-400"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="2000"/>
<define name="PSI_DGAIN" value="400"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
@@ -172,12 +172,12 @@
<define name="MAX_SUM_ERR" value="2000000"/>
<!--
<define name="HOVER_KP" value="-500"/>
<define name="HOVER_KD" value="-200"/>
<define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="200"/>
<define name="HOVER_KI" value="0"/>
-->
<define name="HOVER_KP" value="-150"/>
<define name="HOVER_KD" value="-80"/>
<define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
@@ -189,10 +189,10 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-50"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-15"/>
<define name="NGAIN" value="-0"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="15"/>
<define name="NGAIN" value="0"/>
</section>
<section name="MISC">
conf/airframes/ENAC/fixed-wing/firestorm.xml
+9 -9
View File
@@ -149,7 +149,7 @@
<!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ -->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.04"/>
<define name="ALTITUDE_PGAIN" value="0.04"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -160,12 +160,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-2500"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.05" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.007"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.007"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.067"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.11"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
<define name="AUTO_PITCH_PGAIN" value="0.05"/>
<define name="AUTO_PITCH_IGAIN" value="0.075"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -175,23 +175,23 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.9"/>
<define name="COURSE_PGAIN" value="0.9"/>
<define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-14255.3193359"/>
<define name="PITCH_PGAIN" value="14255.3193359"/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="2000."/>
<define name="ROLL_ATTITUDE_GAIN" value="-2600"/>
<define name="ROLL_RATE_GAIN" value="-850"/>
<define name="ROLL_ATTITUDE_GAIN" value="2600"/>
<define name="ROLL_RATE_GAIN" value="850"/>
<define name="ROLL_KFF" value="-500"/>
<define name="ROLL_IGAIN" value="-00"/>
<define name="PITCH_IGAIN" value="-500"/>
<define name="ROLL_IGAIN" value="00"/>
<define name="PITCH_IGAIN" value="500"/>
</section>
<section name="NAV">
conf/airframes/ENAC/fixed-wing/funjet2.xml
+7 -7
View File
@@ -144,7 +144,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/-->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
<define name="ALTITUDE_PGAIN" value="0.06"/> <!-- -0.024 -->
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
@@ -155,12 +155,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.04"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.03"/>
<define name="AUTO_PITCH_PGAIN" value="0.03"/>
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
@@ -170,15 +170,15 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1."/>
<define name="COURSE_PGAIN" value="1."/>
<define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-9000."/>
<define name="ROLL_RATE_GAIN" value="-3000."/>
<define name="ROLL_ATTITUDE_GAIN" value="9000."/>
<define name="ROLL_RATE_GAIN" value="3000."/>
<define name="PITCH_PGAIN" value="-20000."/>
<define name="PITCH_PGAIN" value="20000."/>
<define name="PITCH_DGAIN" value="0.4"/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
+13 -13
View File
@@ -149,7 +149,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/-->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
<define name="ALTITUDE_PGAIN" value="0.06"/> <!-- -0.024 -->
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
@@ -160,14 +160,14 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.04"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.03"/>
<define name="AUTO_PITCH_DGAIN" value="-0.0"/>
<define name="AUTO_PITCH_IGAIN" value="-0.0"/>
<define name="AUTO_PITCH_PGAIN" value="0.03"/>
<define name="AUTO_PITCH_DGAIN" value="0.0"/>
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -190,20 +190,20 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1."/>
<define name="COURSE_PGAIN" value="1."/>
<define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-9000."/>
<define name="ROLL_RATE_GAIN" value="-3000."/>
<define name="ROLL_IGAIN" value="-500"/>
<define name="ROLL_KFFA" value="-500"/>
<define name="ROLL_KFFD" value="-500"/>
<define name="ROLL_ATTITUDE_GAIN" value="9000."/>
<define name="ROLL_RATE_GAIN" value="3000."/>
<define name="ROLL_IGAIN" value="500"/>
<define name="ROLL_KFFA" value="500"/>
<define name="ROLL_KFFD" value="500"/>
<define name="PITCH_PGAIN" value="-20000."/>
<define name="PITCH_PGAIN" value="20000."/>
<define name="PITCH_DGAIN" value="0.4"/>
<define name="PITCH_IGAIN" value="-500"/>
<define name="PITCH_IGAIN" value="500"/>
<define name="PITCH_KFFA" value="0."/>
<define name="PITCH_KFFD" value="0."/>
conf/airframes/ENAC/fixed-wing/funjet2_new.xml
+13 -13
View File
@@ -149,7 +149,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/-->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
<define name="ALTITUDE_PGAIN" value="0.06"/> <!-- -0.024 -->
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
@@ -160,14 +160,14 @@
<!--define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/-->
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
<define name="AUTO_THROTTLE_IGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.02"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
<define name="AUTO_PITCH_DGAIN" value="-0.0"/>
<define name="AUTO_PITCH_IGAIN" value="-0.01"/>
<define name="AUTO_PITCH_PGAIN" value="0.05"/>
<define name="AUTO_PITCH_DGAIN" value="0.0"/>
<define name="AUTO_PITCH_IGAIN" value="0.01"/>
<!--define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/-->
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -190,20 +190,20 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.7"/>
<define name="COURSE_PGAIN" value="0.7"/>
<define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-9000."/>
<define name="ROLL_RATE_GAIN" value="-3000."/>
<define name="ROLL_IGAIN" value="-0"/>
<define name="ROLL_ATTITUDE_GAIN" value="9000."/>
<define name="ROLL_RATE_GAIN" value="3000."/>
<define name="ROLL_IGAIN" value="0"/>
<define name="ROLL_KFFA" value="0"/>
<define name="ROLL_KFFD" value="0"/>
<define name="PITCH_PGAIN" value="-20000."/>
<define name="PITCH_DGAIN" value="-1000"/>
<define name="PITCH_IGAIN" value="-300"/>
<define name="PITCH_PGAIN" value="20000."/>
<define name="PITCH_DGAIN" value="1000"/>
<define name="PITCH_IGAIN" value="300"/>
<define name="PITCH_KFFA" value="0."/>
<define name="PITCH_KFFD" value="0."/>
conf/airframes/ENAC/fixed-wing/funjet3.xml
+13 -13
View File
@@ -120,7 +120,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/-->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.159999996424"/> <!-- -0.024 -->
<define name="ALTITUDE_PGAIN" value="0.159999996424"/> <!-- -0.024 -->
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="5."/>
@@ -133,15 +133,15 @@
<!-- Climb loop (throttle) -->
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.004"/> <!-- -0.005 -->
<define name="AUTO_THROTTLE_DGAIN" value="-0.01"/> <!-- 0.005 -->
<define name="AUTO_THROTTLE_IGAIN" value="-0.004"/> <!-- 0.005 -->
<define name="AUTO_THROTTLE_PGAIN" value="0.004"/> <!-- -0.005 -->
<define name="AUTO_THROTTLE_DGAIN" value="0.01"/> <!-- 0.005 -->
<define name="AUTO_THROTTLE_IGAIN" value="0.004"/> <!-- 0.005 -->
<!-- Climb loop (pitch) -->
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
<define name="AUTO_PITCH_PGAIN" value="-0.038"/> <!-- -0.03 -->
<define name="AUTO_PITCH_DGAIN" value="-0.036"/> <!-- -0.03 -->
<define name="AUTO_PITCH_IGAIN" value="-0.0"/>
<define name="AUTO_PITCH_PGAIN" value="0.038"/> <!-- -0.03 -->
<define name="AUTO_PITCH_DGAIN" value="0.036"/> <!-- -0.03 -->
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<!-- airspeed control -->
<define name="AUTO_AIRSPEED_SETPOINT" value="16."/>
@@ -167,20 +167,20 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.699999988079"/>
<define name="COURSE_PGAIN" value="0.699999988079"/>
<define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-6000."/>
<define name="ROLL_RATE_GAIN" value="-1000."/>
<define name="ROLL_IGAIN" value="-400."/>
<define name="ROLL_ATTITUDE_GAIN" value="6000."/>
<define name="ROLL_RATE_GAIN" value="1000."/>
<define name="ROLL_IGAIN" value="400."/>
<define name="ROLL_KFFA" value="0"/>
<define name="ROLL_KFFD" value="0"/>
<define name="PITCH_PGAIN" value="-20000."/>
<define name="PITCH_PGAIN" value="20000."/>
<define name="PITCH_DGAIN" value="0."/>
<define name="PITCH_IGAIN" value="-460."/>
<define name="PITCH_IGAIN" value="460."/>
<define name="PITCH_KFFA" value="0."/>
<define name="PITCH_KFFD" value="0."/>
conf/airframes/ENAC/fixed-wing/merlin.xml
+13 -13
View File
@@ -119,7 +119,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/>
<define name="ALTITUDE_PGAIN" value="0.06"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -130,14 +130,14 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.023"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.023"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.06"/>
<define name="AUTO_PITCH_IGAIN" value="-0.0"/>
<define name="AUTO_PITCH_DGAIN" value="-0.0"/>
<define name="AUTO_PITCH_PGAIN" value="0.06"/>
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<define name="AUTO_PITCH_DGAIN" value="0.0"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -151,20 +151,20 @@
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.0"/>
<define name="COURSE_PGAIN" value="1.0"/>
<define name="ROLL_MAX_SETPOINT" value="0.60" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-5900"/>
<define name="ROLL_RATE_GAIN" value="-2900"/>
<define name="ROLL_IGAIN" value="-500"/>
<define name="ROLL_KFFA" value="-500"/>
<define name="ROLL_KFFD" value="-500"/>
<define name="ROLL_ATTITUDE_GAIN" value="5900"/>
<define name="ROLL_RATE_GAIN" value="2900"/>
<define name="ROLL_IGAIN" value="500"/>
<define name="ROLL_KFFA" value="500"/>
<define name="ROLL_KFFD" value="500"/>
<define name="PITCH_PGAIN" value="-9000."/>
<define name="PITCH_PGAIN" value="9000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="PITCH_IGAIN" value="-500"/>
<define name="PITCH_IGAIN" value="500"/>
<define name="PITCH_KFFA" value="0."/>
<define name="PITCH_KFFD" value="0."/>
conf/airframes/ENAC/fixed-wing/minimag1.xml
+5 -5
View File
@@ -131,7 +131,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.07"/>
<define name="ALTITUDE_PGAIN" value="0.07"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -142,12 +142,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-500"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.025"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.025"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
<define name="AUTO_PITCH_PGAIN" value="0.05"/>
<define name="AUTO_PITCH_IGAIN" value="0.075"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -156,7 +156,7 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.2"/>
<define name="COURSE_PGAIN" value="1.2"/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
@@ -164,7 +164,7 @@
<define name="ROLL_PGAIN" value="12000."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-9000."/>
<define name="PITCH_PGAIN" value="9000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/>
</section>
conf/airframes/ENAC/fixed-wing/obsolete/drops.xml
+9 -9
View File
@@ -132,7 +132,7 @@ on<!DOCTYPE airframe SYSTEM "airframe.dtd">
<!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/-->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/>
<define name="ALTITUDE_PGAIN" value="0.06"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -143,12 +143,12 @@ on<!DOCTYPE airframe SYSTEM "airframe.dtd">
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.023"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.023"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.101000003517"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.06"/>
<define name="AUTO_PITCH_PGAIN" value="0.06"/>
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -158,23 +158,23 @@ on<!DOCTYPE airframe SYSTEM "airframe.dtd">
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.0340000391"/>
<define name="COURSE_PGAIN" value="1.0340000391"/>
<define name="ROLL_MAX_SETPOINT" value="0.60" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_PGAIN" value="6000."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-8898.3046875"/>
<define name="PITCH_DGAIN" value="-1694.91503906"/>
<define name="PITCH_PGAIN" value="8898.3046875"/>
<define name="PITCH_DGAIN" value="1694.91503906"/>
<define name="ELEVATOR_OF_ROLL" value="1520.73706055"/>
<define name="ROLL_ATTITUDE_GAIN" value="-5847.45800781"/>
<define name="ROLL_RATE_GAIN" value="-2923.72900391"/>
<define name="ROLL_ATTITUDE_GAIN" value="5847.45800781"/>
<define name="ROLL_RATE_GAIN" value="2923.72900391"/>
<define name="ROLL_KFF" value="-500"/>
<define name="ROLL_IGAIN" value="-5000"/>
<define name="ROLL_IGAIN" value="5000"/>
</section>
<section name="NAV">
conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml
+9 -9
View File
@@ -115,7 +115,7 @@
<!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ -->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.104000002146"/>
<define name="ALTITUDE_PGAIN" value="0.104000002146"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
@@ -126,12 +126,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.0149999996647"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.0149999996647"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.0460000000894"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.0209999997169"/>
<define name="AUTO_PITCH_PGAIN" value="0.0209999997169"/>
<define name="AUTO_PITCH_IGAIN" value="0.203999996185"/>
<define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.148000001907"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
@@ -142,23 +142,23 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.20599997044"/>
<define name="COURSE_PGAIN" value="1.20599997044"/>
<define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-14814.8154297"/>
<define name="PITCH_PGAIN" value="14814.8154297"/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="2500"/>
<define name="ROLL_ATTITUDE_GAIN" value="-8055.55615234"/>
<define name="ROLL_RATE_GAIN" value="-1527.7779541"/>
<define name="ROLL_ATTITUDE_GAIN" value="8055.55615234"/>
<define name="ROLL_RATE_GAIN" value="1527.7779541"/>
<define name="ROLL_KFF" value="-500"/>
<define name="ROLL_IGAIN" value="-500"/>
<define name="PITCH_IGAIN" value="-500"/>
<define name="ROLL_IGAIN" value="500"/>
<define name="PITCH_IGAIN" value="500"/>
</section>
<section name="NAV">
conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml
+7 -7
View File
@@ -113,7 +113,7 @@
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.04"/>
<define name="ALTITUDE_PGAIN" value="0.04"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -124,12 +124,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.02"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.37"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
<define name="AUTO_PITCH_PGAIN" value="0.05"/>
<define name="AUTO_PITCH_IGAIN" value="0.075"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -139,23 +139,23 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1."/>
<define name="COURSE_PGAIN" value="1."/>
<define name="ROLL_MAX_SETPOINT" value="0.7" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-50000"/>
<define name="PITCH_PGAIN" value="50000"/>
<define name="PITCH_DGAIN" value="0"/>
<define name="ELEVATOR_OF_ROLL" value="2500"/>
<define name="ROLL_ATTITUDE_GAIN" value="-20000"/>
<define name="ROLL_ATTITUDE_GAIN" value="20000"/>
<define name="ROLL_RATE_GAIN" value="0"/>
<define name="ROLL_KFFP" value="-500"/>
<define name="ROLL_KFFD" value="0"/>
<define name="ROLL_IGAIN" value="-5000"/>
<define name="ROLL_IGAIN" value="5000"/>
</section>
<section name="NAV">
conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml
+7 -7
View File
@@ -113,7 +113,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.065"/>
<define name="ALTITUDE_PGAIN" value="0.065"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
@@ -124,13 +124,13 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1250"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-2000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.15"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.15"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_DGAIN" value="-1"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.1"/>
<define name="AUTO_PITCH_PGAIN" value="0.1"/>
<define name="AUTO_PITCH_IGAIN" value="0.025"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.5"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.5"/>
@@ -140,21 +140,21 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-2.6"/>
<define name="COURSE_PGAIN" value="2.6"/>
<define name="COURSE_DGAIN" value="1"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="1."/>
<define name="ROLL_MAX_SETPOINT" value="0.73" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-9000."/>
<define name="PITCH_PGAIN" value="9000."/>
<define name="PITCH_DGAIN" value="0."/>
<define name="ELEVATOR_OF_ROLL" value="1000"/>
<!-- roll rate loop -->
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/>
<define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="1500"/>
<define name="COURSE_SLEW_INCREMENT" value="RadOfDeg(3)"/>
</section>
conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml
+10 -10
View File
@@ -118,7 +118,7 @@
<!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ -->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.04"/>
<define name="ALTITUDE_PGAIN" value="0.04"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -129,12 +129,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-2500"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.02"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.15"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
<define name="AUTO_PITCH_PGAIN" value="0.05"/>
<define name="AUTO_PITCH_IGAIN" value="0.075"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -144,29 +144,29 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.885999977589"/>
<define name="COURSE_PGAIN" value="0.885999977589"/>
<define name="ROLL_MAX_SETPOINT" value="0.7" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-14255.3193359"/>
<define name="PITCH_PGAIN" value="14255.3193359"/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="2000."/>
<define name="ROLL_ATTITUDE_GAIN" value="-12000"/>
<define name="ROLL_RATE_GAIN" value="-2500"/>
<define name="ROLL_ATTITUDE_GAIN" value="12000"/>
<define name="ROLL_RATE_GAIN" value="2500"/>
<define name="ROLL_KFF" value="-500"/>
<define name="ROLL_IGAIN" value="-00"/>
<define name="PITCH_IGAIN" value="-500"/>
<define name="ROLL_IGAIN" value="00"/>
<define name="PITCH_IGAIN" value="500"/>
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
<define name="NAV_GROUND_SPEED_PGAIN" value="-0.01"/>
<define name="NAV_GROUND_SPEED_PGAIN" value="0.01"/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml
+9 -9
View File
@@ -120,7 +120,7 @@
<!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ -->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.04"/>
<define name="ALTITUDE_PGAIN" value="0.04"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -131,12 +131,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.02"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
<define name="AUTO_PITCH_PGAIN" value="0.05"/>
<define name="AUTO_PITCH_IGAIN" value="0.075"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -146,23 +146,23 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.20599997044"/>
<define name="COURSE_PGAIN" value="1.20599997044"/>
<define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-7627.11914062"/>
<define name="PITCH_PGAIN" value="7627.11914062"/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="2500"/>
<define name="ROLL_ATTITUDE_GAIN" value="-12584.7460938"/>
<define name="ROLL_RATE_GAIN" value="-1779.66101074"/>
<define name="ROLL_ATTITUDE_GAIN" value="12584.7460938"/>
<define name="ROLL_RATE_GAIN" value="1779.66101074"/>
<define name="ROLL_KFF" value="-500"/>
<define name="ROLL_IGAIN" value="-500"/>
<define name="PITCH_IGAIN" value="-500"/>
<define name="ROLL_IGAIN" value="500"/>
<define name="PITCH_IGAIN" value="500"/>
</section>
<section name="NAV">
conf/airframes/ENAC/fixed-wing/overview.xml
+7 -7
View File
@@ -119,7 +119,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/>
<define name="ALTITUDE_PGAIN" value="0.06"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -130,12 +130,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.023"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.023"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.06"/>
<define name="AUTO_PITCH_PGAIN" value="0.06"/>
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -145,15 +145,15 @@
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.0"/>
<define name="COURSE_PGAIN" value="1.0"/>
<define name="ROLL_MAX_SETPOINT" value="0.60" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-9000."/>
<define name="ROLL_RATE_GAIN" value="-3000."/>
<define name="ROLL_ATTITUDE_GAIN" value="9000."/>
<define name="ROLL_RATE_GAIN" value="3000."/>
<define name="PITCH_PGAIN" value="-9000."/>
<define name="PITCH_PGAIN" value="9000."/>
<define name="PITCH_DGAIN" value="0.4"/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
conf/airframes/ENAC/fixed-wing/soarzi.xml
+5 -5
View File
@@ -110,7 +110,7 @@
<define name="POWER_CTL_BAT_NOMINAL" value="7.4" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.07"/>
<define name="ALTITUDE_PGAIN" value="0.07"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -121,12 +121,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-500"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.025"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.025"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
<define name="AUTO_PITCH_PGAIN" value="0.05"/>
<define name="AUTO_PITCH_IGAIN" value="0.075"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -136,7 +136,7 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.2"/>
<define name="COURSE_PGAIN" value="1.2"/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
@@ -144,7 +144,7 @@
<define name="ROLL_PGAIN" value="12000."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-9000."/>
<define name="PITCH_PGAIN" value="9000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/>
conf/airframes/ENAC/fixed-wing/spocIII-1.xml
+9 -9
View File
@@ -121,7 +121,7 @@
<!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ -->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.04"/>
<define name="ALTITUDE_PGAIN" value="0.04"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -132,12 +132,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.02"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
<define name="AUTO_PITCH_PGAIN" value="0.05"/>
<define name="AUTO_PITCH_IGAIN" value="0.075"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -147,23 +147,23 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.20599997044"/>
<define name="COURSE_PGAIN" value="1.20599997044"/>
<define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-8200"/>
<define name="PITCH_PGAIN" value="8200"/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="2500"/>
<define name="ROLL_ATTITUDE_GAIN" value="-8500"/>
<define name="ROLL_RATE_GAIN" value="-2700"/>
<define name="ROLL_ATTITUDE_GAIN" value="8500"/>
<define name="ROLL_RATE_GAIN" value="2700"/>
<define name="ROLL_KFF" value="-500"/>
<define name="ROLL_IGAIN" value="-500"/>
<define name="PITCH_IGAIN" value="-500"/>
<define name="ROLL_IGAIN" value="500"/>
<define name="PITCH_IGAIN" value="500"/>
</section>
<section name="NAV">
conf/airframes/ENAC/fixed-wing/spocIII-2.xml
+14 -14
View File
@@ -124,7 +124,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.04"/>
<define name="ALTITUDE_PGAIN" value="0.04"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -139,15 +139,15 @@
<!-- Climb loop (throttle) -->
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.08" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_DGAIN" value="-0.0"/>
<define name="AUTO_THROTTLE_IGAIN" value="-0.001"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.001"/>
<!-- Climb loop (pitch) -->
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.08"/>
<define name="AUTO_PITCH_PGAIN" value="-0.0"/>
<define name="AUTO_PITCH_DGAIN" value="-0.0"/>
<define name="AUTO_PITCH_IGAIN" value="-0.0"/>
<define name="AUTO_PITCH_PGAIN" value="0.0"/>
<define name="AUTO_PITCH_DGAIN" value="0.0"/>
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<!-- airspeed control -->
<define name="AUTO_AIRSPEED_SETPOINT" value="17."/>
@@ -174,21 +174,21 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.20599997044"/>
<define name="COURSE_PGAIN" value="1.20599997044"/>
<define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-8500."/>
<define name="ROLL_RATE_GAIN" value="-2400."/>
<define name="ROLL_IGAIN" value="-0."/>
<define name="ROLL_ATTITUDE_GAIN" value="8500."/>
<define name="ROLL_RATE_GAIN" value="2400."/>
<define name="ROLL_IGAIN" value="0."/>
<define name="ROLL_KFFA" value="0"/>
<define name="ROLL_KFFD" value="0"/>
<define name="PITCH_PGAIN" value="-7000."/>
<define name="PITCH_DGAIN" value="-2400."/>
<define name="PITCH_IGAIN" value="-300."/>
<define name="PITCH_PGAIN" value="7000."/>
<define name="PITCH_DGAIN" value="2400."/>
<define name="PITCH_IGAIN" value="300."/>
<define name="PITCH_KFFA" value="0."/>
<define name="PITCH_KFFD" value="0."/>
conf/airframes/ENAC/fixed-wing/spocIII-3.xml
+14 -14
View File
@@ -127,7 +127,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.04"/>
<define name="ALTITUDE_PGAIN" value="0.04"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -142,15 +142,15 @@
<!-- Climb loop (throttle) -->
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.08" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_DGAIN" value="-0.0"/>
<define name="AUTO_THROTTLE_IGAIN" value="-0.001"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.001"/>
<!-- Climb loop (pitch) -->
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.08"/>
<define name="AUTO_PITCH_PGAIN" value="-0.0"/>
<define name="AUTO_PITCH_DGAIN" value="-0.0"/>
<define name="AUTO_PITCH_IGAIN" value="-0.0"/>
<define name="AUTO_PITCH_PGAIN" value="0.0"/>
<define name="AUTO_PITCH_DGAIN" value="0.0"/>
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<!-- airspeed control -->
<define name="AUTO_AIRSPEED_SETPOINT" value="17."/>
@@ -177,21 +177,21 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.20599997044"/>
<define name="COURSE_PGAIN" value="1.20599997044"/>
<define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-8500."/>
<define name="ROLL_RATE_GAIN" value="-2400."/>
<define name="ROLL_IGAIN" value="-0."/>
<define name="ROLL_ATTITUDE_GAIN" value="8500."/>
<define name="ROLL_RATE_GAIN" value="2400."/>
<define name="ROLL_IGAIN" value="0."/>
<define name="ROLL_KFFA" value="0"/>
<define name="ROLL_KFFD" value="0"/>
<define name="PITCH_PGAIN" value="-7000."/>
<define name="PITCH_DGAIN" value="-2400."/>
<define name="PITCH_IGAIN" value="-300."/>
<define name="PITCH_PGAIN" value="7000."/>
<define name="PITCH_DGAIN" value="2400."/>
<define name="PITCH_IGAIN" value="300."/>
<define name="PITCH_KFFA" value="0."/>
<define name="PITCH_KFFD" value="0."/>
conf/airframes/ENAC/fixed-wing/twinjet2.xml
+15 -15
View File
@@ -131,7 +131,7 @@
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.0450000017881"/>
<define name="ALTITUDE_PGAIN" value="0.0450000017881"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -142,15 +142,15 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.035000000149"/>
<define name="AUTO_THROTTLE_IGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_DGAIN" value="-0"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.035000000149"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_DGAIN" value="0"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.12"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.035000000149"/>
<define name="AUTO_PITCH_IGAIN" value="-0.01"/>
<define name="AUTO_PITCH_DGAIN" value="-0"/>
<define name="AUTO_PITCH_PGAIN" value="0.035000000149"/>
<define name="AUTO_PITCH_IGAIN" value="0.01"/>
<define name="AUTO_PITCH_DGAIN" value="0"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
<define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.15"/>
@@ -164,21 +164,21 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.995000004768"/>
<define name="COURSE_PGAIN" value="0.995000004768"/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-3553.89208984"/>
<define name="ROLL_ATTITUDE_GAIN" value="3553.89208984"/>
<define name="ROLL_RATE_GAIN" value="0."/>
<define name="ROLL_IGAIN" value="-500"/>
<define name="ROLL_KFFA" value="-500"/>
<define name="ROLL_KFFD" value="-500"/>
<define name="ROLL_IGAIN" value="500"/>
<define name="ROLL_KFFA" value="500"/>
<define name="ROLL_KFFD" value="500"/>
<define name="PITCH_PGAIN" value="-14522.4716797"/>
<define name="PITCH_DGAIN" value="-0."/>
<define name="PITCH_IGAIN" value="-500"/>
<define name="PITCH_PGAIN" value="14522.4716797"/>
<define name="PITCH_DGAIN" value="0."/>
<define name="PITCH_IGAIN" value="500"/>
<define name="PITCH_KFFA" value="0."/>
<define name="PITCH_KFFD" value="0."/>
conf/airframes/ENAC/fixed-wing/weasel.xml
+13 -13
View File
@@ -144,7 +144,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/-->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.159999996424"/> <!-- -0.024 -->
<define name="ALTITUDE_PGAIN" value="0.159999996424"/> <!-- -0.024 -->
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="5."/>
@@ -157,15 +157,15 @@
<!-- Climb loop (throttle) -->
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.004"/> <!-- -0.005 -->
<define name="AUTO_THROTTLE_DGAIN" value="-0.01"/> <!-- 0.005 -->
<define name="AUTO_THROTTLE_IGAIN" value="-0.004"/> <!-- 0.005 -->
<define name="AUTO_THROTTLE_PGAIN" value="0.004"/> <!-- -0.005 -->
<define name="AUTO_THROTTLE_DGAIN" value="0.01"/> <!-- 0.005 -->
<define name="AUTO_THROTTLE_IGAIN" value="0.004"/> <!-- 0.005 -->
<!-- Climb loop (pitch) -->
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
<define name="AUTO_PITCH_PGAIN" value="-0.038"/> <!-- -0.03 -->
<define name="AUTO_PITCH_DGAIN" value="-0.036"/> <!-- -0.03 -->
<define name="AUTO_PITCH_IGAIN" value="-0.0"/>
<define name="AUTO_PITCH_PGAIN" value="0.038"/> <!-- -0.03 -->
<define name="AUTO_PITCH_DGAIN" value="0.036"/> <!-- -0.03 -->
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<!-- airspeed control -->
<define name="AUTO_AIRSPEED_SETPOINT" value="16."/>
@@ -191,20 +191,20 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.7"/>
<define name="COURSE_PGAIN" value="0.7"/>
<define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-3800."/>
<define name="ROLL_RATE_GAIN" value="-500."/>
<define name="ROLL_IGAIN" value="-150."/>
<define name="ROLL_ATTITUDE_GAIN" value="3800."/>
<define name="ROLL_RATE_GAIN" value="500."/>
<define name="ROLL_IGAIN" value="150."/>
<define name="ROLL_KFFA" value="0"/>
<define name="ROLL_KFFD" value="0"/>
<define name="PITCH_PGAIN" value="-10000."/>
<define name="PITCH_PGAIN" value="10000."/>
<define name="PITCH_DGAIN" value="0."/>
<define name="PITCH_IGAIN" value="-250."/>
<define name="PITCH_IGAIN" value="250."/>
<define name="PITCH_KFFA" value="0."/>
<define name="PITCH_KFFD" value="0."/>
conf/airframes/ENAC/quadrotor/blender.xml
+18 -18
View File
@@ -130,9 +130,9 @@
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
@@ -161,17 +161,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-160"/>
<define name="PHI_IGAIN" value="-40"/>
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="160"/>
<define name="PHI_IGAIN" value="40"/>
<define name="THETA_PGAIN" value="-400"/>
<define name="THETA_DGAIN" value="-160"/>
<define name="THETA_IGAIN" value="-40"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="160"/>
<define name="THETA_IGAIN" value="40"/>
<define name="PSI_PGAIN" value="-1000"/>
<define name="PSI_DGAIN" value="-350"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="1000"/>
<define name="PSI_DGAIN" value="350"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
@@ -196,8 +196,8 @@
<define name="REF_MAX_ZDD" value=" 0.8*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1.5"/>
<define name="HOVER_KP" value="-400"/>
<define name="HOVER_KD" value="-200"/>
<define name="HOVER_KP" value="400"/>
<define name="HOVER_KD" value="200"/>
<define name="HOVER_KI" value="0"/>
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
@@ -206,10 +206,10 @@
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-140"/>
<define name="DGAIN" value="-90"/>
<define name="IGAIN" value="-30"/>
<define name="NGAIN" value="-0"/>
<define name="PGAIN" value="140"/>
<define name="DGAIN" value="90"/>
<define name="IGAIN" value="30"/>
<define name="NGAIN" value="0"/>
<!-- feedforward -->
<define name="AGAIN" value="100"/>
</section>
conf/airframes/ENAC/quadrotor/booz2_g1.xml
+18 -18
View File
@@ -105,9 +105,9 @@
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
@@ -136,17 +136,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-2000"/>
<define name="PHI_DGAIN" value="-400"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="2000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-2000"/>
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="2000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-2000"/>
<define name="PSI_DGAIN" value="-400"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="2000"/>
<define name="PSI_DGAIN" value="400"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
@@ -170,8 +170,8 @@
<define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1.5"/>
<define name="HOVER_KP" value="-150"/>
<define name="HOVER_KD" value="-80"/>
<define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
@@ -182,10 +182,10 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-50"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-15"/>
<define name="NGAIN" value="-0"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="15"/>
<define name="NGAIN" value="0"/>
<!-- feedforward -->
<define name="AGAIN" value="100"/>
</section>
conf/airframes/ENAC/quadrotor/g1_vision.xml
+18 -18
View File
@@ -79,9 +79,9 @@
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
@@ -110,17 +110,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-2000"/>
<define name="PHI_DGAIN" value="-400"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="2000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-2000"/>
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="2000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-1000"/>
<define name="PSI_DGAIN" value="-350"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="1000"/>
<define name="PSI_DGAIN" value="350"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
@@ -152,8 +152,8 @@
<define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1.5"/>
<define name="HOVER_KP" value="-150"/>
<define name="HOVER_KD" value="-80"/>
<define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
@@ -164,10 +164,10 @@
<section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
<define name="PGAIN" value="-50"/>
<define name="DGAIN" value="-60"/>
<define name="IGAIN" value="-0"/>
<define name="NGAIN" value="-0"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="60"/>
<define name="IGAIN" value="0"/>
<define name="NGAIN" value="0"/>
<!-- feedforward -->
<define name="AGAIN" value="50"/>
</section>
conf/airframes/ENAC/quadrotor/mkk1-vision.xml
+21 -21
View File
@@ -99,9 +99,9 @@
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
@@ -111,9 +111,9 @@
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
@@ -143,17 +143,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-650"/>
<define name="PHI_DGAIN" value="-200"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="650"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-650"/>
<define name="THETA_DGAIN" value="-200"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="650"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-800"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-20"/>
<define name="PSI_PGAIN" value="800"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="20"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
@@ -186,8 +186,8 @@
<define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1.5"/>
<define name="HOVER_KP" value="-200"/>
<define name="HOVER_KD" value="-100"/>
<define name="HOVER_KP" value="200"/>
<define name="HOVER_KD" value="100"/>
<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"/>
@@ -197,10 +197,10 @@
<section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
<define name="PGAIN" value="-250"/>
<define name="DGAIN" value="-150"/>
<define name="IGAIN" value="-35"/>
<define name="NGAIN" value="-0"/>
<define name="PGAIN" value="250"/>
<define name="DGAIN" value="150"/>
<define name="IGAIN" value="35"/>
<define name="NGAIN" value="0"/>
<!-- feedforward -->
<define name="AGAIN" value="100"/>
</section>
conf/airframes/ENAC/quadrotor/mkk1.xml
+21 -21
View File
@@ -129,9 +129,9 @@
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
@@ -141,9 +141,9 @@
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
@@ -173,17 +173,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-650"/>
<define name="PHI_DGAIN" value="-200"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="650"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-650"/>
<define name="THETA_DGAIN" value="-200"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="650"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-800"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-20"/>
<define name="PSI_PGAIN" value="800"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="20"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
@@ -206,8 +206,8 @@
<define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1.5"/>
<define name="HOVER_KP" value="-200"/>
<define name="HOVER_KD" value="-100"/>
<define name="HOVER_KP" value="200"/>
<define name="HOVER_KD" value="100"/>
<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"/>
@@ -217,10 +217,10 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-60"/>
<define name="DGAIN" value="-120"/>
<define name="IGAIN" value="-10"/>
<define name="NGAIN" value="-0"/>
<define name="PGAIN" value="60"/>
<define name="DGAIN" value="120"/>
<define name="IGAIN" value="10"/>
<define name="NGAIN" value="0"/>
<!-- feedforward -->
<define name="AGAIN" value="100"/>
</section>
conf/airframes/ENAC/quadrotor/navgo.xml
+18 -18
View File
@@ -125,9 +125,9 @@
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
@@ -156,17 +156,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-350"/>
<define name="PHI_DGAIN" value="-190"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="350"/>
<define name="PHI_DGAIN" value="190"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-350"/>
<define name="THETA_DGAIN" value="-190"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="350"/>
<define name="THETA_DGAIN" value="190"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-700"/>
<define name="PSI_DGAIN" value="-250"/>
<define name="PSI_IGAIN" value="-20"/>
<define name="PSI_PGAIN" value="700"/>
<define name="PSI_DGAIN" value="250"/>
<define name="PSI_IGAIN" value="20"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 70"/>
@@ -186,8 +186,8 @@
<define name="REF_MAX_ZDD" value=" 0.8*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1.5"/>
<define name="HOVER_KP" value="-350"/>
<define name="HOVER_KD" value="-160"/>
<define name="HOVER_KP" value="350"/>
<define name="HOVER_KD" value="160"/>
<define name="HOVER_KI" value="0"/>
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
@@ -196,10 +196,10 @@
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-140"/>
<define name="DGAIN" value="-90"/>
<define name="IGAIN" value="-30"/>
<define name="NGAIN" value="-0"/>
<define name="PGAIN" value="140"/>
<define name="DGAIN" value="90"/>
<define name="IGAIN" value="30"/>
<define name="NGAIN" value="0"/>
<!-- feedforward -->
<define name="AGAIN" value="100"/>
</section>
conf/airframes/ENAC/quadrotor/nova1.xml
+21 -21
View File
@@ -100,9 +100,9 @@
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
@@ -112,9 +112,9 @@
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
@@ -144,17 +144,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-650"/>
<define name="PHI_DGAIN" value="-200"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="650"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-650"/>
<define name="THETA_DGAIN" value="-200"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="650"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-800"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-20"/>
<define name="PSI_PGAIN" value="800"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="20"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
@@ -177,8 +177,8 @@
<define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1.5"/>
<define name="HOVER_KP" value="-200"/>
<define name="HOVER_KD" value="-100"/>
<define name="HOVER_KP" value="200"/>
<define name="HOVER_KD" value="100"/>
<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"/>
@@ -188,10 +188,10 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-60"/>
<define name="DGAIN" value="-120"/>
<define name="IGAIN" value="-10"/>
<define name="NGAIN" value="-0"/>
<define name="PGAIN" value="60"/>
<define name="DGAIN" value="120"/>
<define name="IGAIN" value="10"/>
<define name="NGAIN" value="0"/>
<!-- feedforward -->
<define name="AGAIN" value="100"/>
</section>
conf/airframes/LAAS/mmlaas_N1.xml
+7 -7
View File
@@ -140,7 +140,7 @@
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.15"/>
<define name="ALTITUDE_PGAIN" value="0.15"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -151,12 +151,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-2000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.05"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.05"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.065"/>
<define name="AUTO_PITCH_PGAIN" value="0.065"/>
<define name="AUTO_PITCH_IGAIN" value="0.15"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -166,15 +166,15 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1."/>
<define name="COURSE_PGAIN" value="1."/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-10000"/>
<define name="ROLL_ATTITUDE_GAIN" value="10000"/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-12000."/>
<define name="PITCH_PGAIN" value="12000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/>
</section>
@@ -182,7 +182,7 @@
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
<define name="NAV_GROUND_SPEED_PGAIN" value="-0.015"/>
<define name="NAV_GROUND_SPEED_PGAIN" value="0.015"/>
<define name="NAV_FOLLOW_PGAIN" value="-0.05"/>
</section>
conf/airframes/LAAS/mmlaas_N2.xml
+7 -7
View File
@@ -136,7 +136,7 @@
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.15"/>
<define name="ALTITUDE_PGAIN" value="0.15"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -147,12 +147,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-2000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.05"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.05"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.065"/>
<define name="AUTO_PITCH_PGAIN" value="0.065"/>
<define name="AUTO_PITCH_IGAIN" value="0.15"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -162,15 +162,15 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1."/>
<define name="COURSE_PGAIN" value="1."/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-10000"/>
<define name="ROLL_ATTITUDE_GAIN" value="10000"/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-12000."/>
<define name="PITCH_PGAIN" value="12000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/>
</section>
@@ -178,7 +178,7 @@
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
<define name="NAV_GROUND_SPEED_PGAIN" value="-0.015"/>
<define name="NAV_GROUND_SPEED_PGAIN" value="0.015"/>
<define name="NAV_FOLLOW_PGAIN" value="-0.05"/>
</section>
conf/airframes/LAAS/mmlaas_N3.xml
+7 -7
View File
@@ -136,7 +136,7 @@
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.15"/>
<define name="ALTITUDE_PGAIN" value="0.15"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -147,12 +147,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-2000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.05"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.05"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.065"/>
<define name="AUTO_PITCH_PGAIN" value="0.065"/>
<define name="AUTO_PITCH_IGAIN" value="0.15"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -162,15 +162,15 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1."/>
<define name="COURSE_PGAIN" value="1."/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-10000"/>
<define name="ROLL_ATTITUDE_GAIN" value="10000"/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-12000."/>
<define name="PITCH_PGAIN" value="12000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/>
</section>
@@ -178,7 +178,7 @@
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
<define name="NAV_GROUND_SPEED_PGAIN" value="-0.015"/>
<define name="NAV_GROUND_SPEED_PGAIN" value="0.015"/>
<define name="NAV_FOLLOW_PGAIN" value="-0.05"/>
</section>
conf/airframes/NoVa_L.xml
+29 -29
View File
@@ -112,9 +112,9 @@
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
@@ -143,17 +143,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- gaui props
<define name="PHI_PGAIN" value="-900"/>
<define name="PHI_DGAIN" value="-200"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="900"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-900"/>
<define name="THETA_DGAIN" value="-200"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="900"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-900"/>
<define name="PSI_DGAIN" value="-200"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="900"/>
<define name="PSI_DGAIN" value="200"/>
<define name="PSI_IGAIN" value="10"/>
<define name="PHI_DDGAIN" value=" 200"/>
<define name="THETA_DDGAIN" value=" 200"/>
@@ -161,17 +161,17 @@
-->
<!-- feedback -->
<define name="PHI_PGAIN" value="-2000"/>
<define name="PHI_DGAIN" value="-400"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="2000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-2000"/>
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="2000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-2000"/>
<define name="PSI_DGAIN" value="-400"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="2000"/>
<define name="PSI_DGAIN" value="400"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
@@ -200,12 +200,12 @@
<define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="-500"/>
<define name="HOVER_KD" value="-200"/>
<define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="200"/>
<define name="HOVER_KI" value="0"/>
<!--
<define name="HOVER_KP" value="-150"/>
<define name="HOVER_KD" value="-80"/>
<define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="0"/>
-->
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
@@ -217,10 +217,10 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-50"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-15"/>
<define name="NGAIN" value="-0"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="15"/>
<define name="NGAIN" value="0"/>
</section>
<section name="MISC">
conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
+5 -5
View File
@@ -127,7 +127,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.03"/>
<define name="ALTITUDE_PGAIN" value="0.03"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -138,7 +138,7 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
@@ -146,7 +146,7 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.20000004768"/>
<define name="COURSE_PGAIN" value="1.20000004768"/>
<define name="COURSE_DGAIN" value="0.3"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
@@ -154,14 +154,14 @@
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-12000."/>
<define name="PITCH_PGAIN" value="12000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1000."/>
<define name="ROLL_SLEW" value="1."/>
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
<define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="0."/>
</section>
conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
+27 -27
View File
@@ -76,9 +76,9 @@
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
@@ -108,30 +108,30 @@
<!-- feedback gains for better endurance -->
<!--
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-400"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-380"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-75"/>
<define name="PSI_PGAIN" value="380"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="75"/>
-->
<!-- feedback gains for better performance -->
<define name="PHI_PGAIN" value="-2000"/>
<define name="PHI_DGAIN" value="-400"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="2000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-2000"/>
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="2000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-1000"/>
<define name="PSI_DGAIN" value="-350"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="1000"/>
<define name="PSI_DGAIN" value="350"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
@@ -160,9 +160,9 @@
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="-500"/>
<define name="HOVER_KD" value="-250"/>
<define name="HOVER_KI" value="-100"/>
<define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="250"/>
<define name="HOVER_KI" value="100"/>
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
@@ -171,9 +171,9 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
+27 -27
View File
@@ -76,9 +76,9 @@
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
@@ -109,31 +109,31 @@
<!-- feedback gains for better endurance -->
<!--
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-400"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-380"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-75"/>
<define name="PSI_PGAIN" value="380"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="75"/>
-->
<!-- feedback gains for better performance -->
<define name="PHI_PGAIN" value="-2000"/>
<define name="PHI_DGAIN" value="-400"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="2000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-2000"/>
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="2000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-1000"/>
<define name="PSI_DGAIN" value="-350"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="1000"/>
<define name="PSI_DGAIN" value="350"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
@@ -178,9 +178,9 @@
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="-500"/>
<define name="HOVER_KD" value="-250"/>
<define name="HOVER_KI" value="-100"/>
<define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="250"/>
<define name="HOVER_KI" value="100"/>
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
@@ -189,9 +189,9 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
conf/airframes/Poine/booz2_a1.xml
+18 -18
View File
@@ -90,9 +90,9 @@
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
@@ -122,17 +122,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-400"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-380"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-75"/>
<define name="PSI_PGAIN" value="380"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="75"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
@@ -151,9 +151,9 @@
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="-500"/>
<define name="HOVER_KD" value="-200"/>
<define name="HOVER_KI" value="-100"/>
<define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="200"/>
<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% -->
@@ -163,9 +163,9 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
<section name="BAT">
conf/airframes/Poine/booz2_a1p.xml
+18 -18
View File
@@ -88,9 +88,9 @@
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
@@ -120,17 +120,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-400"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-380"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-75"/>
<define name="PSI_PGAIN" value="380"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="75"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
@@ -155,9 +155,9 @@
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="-500"/>
<define name="HOVER_KD" value="-200"/>
<define name="HOVER_KI" value="-100"/>
<define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="200"/>
<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% -->
@@ -167,9 +167,9 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
<section name="BAT">
conf/airframes/Poine/booz2_a7.xml
+29 -29
View File
@@ -84,9 +84,9 @@
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
@@ -115,17 +115,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- gaui props
<define name="PHI_PGAIN" value="-900"/>
<define name="PHI_DGAIN" value="-200"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="900"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-900"/>
<define name="THETA_DGAIN" value="-200"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="900"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-900"/>
<define name="PSI_DGAIN" value="-200"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="900"/>
<define name="PSI_DGAIN" value="200"/>
<define name="PSI_IGAIN" value="10"/>
<define name="PHI_DDGAIN" value=" 200"/>
<define name="THETA_DDGAIN" value=" 200"/>
@@ -133,17 +133,17 @@
-->
<!-- feedback -->
<define name="PHI_PGAIN" value="-2000"/>
<define name="PHI_DGAIN" value="-400"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="2000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-2000"/>
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="2000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-2000"/>
<define name="PSI_DGAIN" value="-400"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="2000"/>
<define name="PSI_DGAIN" value="400"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
@@ -172,12 +172,12 @@
<define name="MAX_SUM_ERR" value="2000000"/>
<!--
<define name="HOVER_KP" value="-500"/>
<define name="HOVER_KD" value="-200"/>
<define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="200"/>
<define name="HOVER_KI" value="0"/>
-->
<define name="HOVER_KP" value="-150"/>
<define name="HOVER_KD" value="-80"/>
<define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
@@ -189,10 +189,10 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-50"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-15"/>
<define name="NGAIN" value="-0"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="15"/>
<define name="NGAIN" value="0"/>
</section>
<section name="MISC">
conf/airframes/Poine/easy_glider1.xml
+6 -6
View File
@@ -94,7 +94,7 @@
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.03"/>
<define name="ALTITUDE_PGAIN" value="0.03"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -105,7 +105,7 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
@@ -113,21 +113,21 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.10800004005"/>
<define name="COURSE_PGAIN" value="1.10800004005"/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-15184.5644531"/>
<define name="PITCH_PGAIN" value="15184.5644531"/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/>
<define name="ROLL_SLEW" value="0.1"/>
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/>
<define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="1500"/>
</section>
<section name="NAV">
conf/airframes/Poine/funjet42.xml
+5 -5
View File
@@ -118,7 +118,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
<define name="ALTITUDE_PGAIN" value="0.06"/> <!-- -0.024 -->
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -127,12 +127,12 @@
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
<define name="AUTO_THROTTLE_PGAIN" value="0.023"/> <!-- -0.012 -->
<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
<define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -141,14 +141,14 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.9"/>
<define name="COURSE_PGAIN" value="0.9"/>
<define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/> <!-- 0.5 -->
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_PGAIN" value="6600."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-5500."/>
<define name="PITCH_PGAIN" value="5500."/>
<define name="PITCH_DGAIN" value="0.4"/>
<define name="ELEVATOR_OF_ROLL" value="2400"/>
conf/airframes/Poine/h_hex.xml
+18 -18
View File
@@ -86,9 +86,9 @@
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
@@ -117,17 +117,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-400"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-380"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-75"/>
<define name="PSI_PGAIN" value="380"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="75"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
@@ -146,9 +146,9 @@
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="-500"/>
<define name="HOVER_KD" value="-200"/>
<define name="HOVER_KI" value="-100"/>
<define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="200"/>
<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% -->
@@ -158,9 +158,9 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
<section name="MISC">
conf/airframes/Poine/swift_1.xml
+5 -5
View File
@@ -112,7 +112,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
<define name="ALTITUDE_PGAIN" value="0.06"/> <!-- -0.024 -->
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -121,12 +121,12 @@
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
<define name="AUTO_THROTTLE_PGAIN" value="0.023"/> <!-- -0.012 -->
<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
<define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -135,14 +135,14 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.9"/>
<define name="COURSE_PGAIN" value="0.9"/>
<define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/> <!-- 0.5 -->
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_PGAIN" value="6600."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-5500."/>
<define name="PITCH_PGAIN" value="5500."/>
<define name="PITCH_DGAIN" value="0.4"/>
<define name="ELEVATOR_OF_ROLL" value="2400"/>
conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_rc.xml
+276 -14
View File
@@ -4,20 +4,282 @@
Powered via a plug 12V pack
Lisa/L v1.1 board
XBee connected to UART2 configured at 38400
Aspirin v1.5
overo
Booz2 v1.2
GPS connected to UART1 (Since this is inside in a metal box it won't ever get a solution)
-->
<airframe name="TestConfig">
<firmware name="rotorcraft">
<target name="sim" board="pc"/>
<target name="ap" board="lisa_l_1.1"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B38400"/>
</subsystem>
<subsystem name="control"/>
<subsystem name="navigation"/>
</firmware>
<firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.1">
<!--define name="NO_RC_THRUST_LIMIT"/-->
<subsystem name="radio_control" type="spektrum"/>
<define name="RADIO_MODE" value="RADIO_AUX1"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<define name ="RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value = "UART5"/>
<define name ="OVERRIDE_UART5_IRQ_HANDLER"/>
<subsystem name="actuators" type="mkk"/>
<subsystem name="telemetry" type="transparent"/>
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
</target>
<subsystem name="imu" type="aspirin_v1.5"/>
<subsystem name="gps" type="ublox">
<configure name="GPS_BAUD" value="B57600"/>
</subsystem>
<subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
</firmware>
<!--
<firmware name="lisa_test_progs">
<target name="test_led" board="lisa_l_1.1"/>
<target name="test_uart" board="lisa_l_1.1"/>
<target name="test_servos" board="lisa_l_1.1"/>
<target name="test_telemetry" board="lisa_l_1.1"/>
<target name="test_baro" board="lisa_l_1.1"/>
<target name="test_imu_b2" board="lisa_l_1.1"/>
<target name="test_imu_b2_2" board="lisa_l_1.1"/>
<target name="test_imu_aspirin" board="lisa_l_1.1"/>
<target name="test_rc_spektrum" board="lisa_l_1.1"/>
<target name="test_rc_ppm" board="lisa_l_1.1"/>
<target name="test_adc" board="lisa_l_1.1"/>
<target name="test_hmc5843" board="lisa_l_1.1"/>
<target name="test_itg3200" board="lisa_l_1.1"/>
<target name="test_adxl345" board="lisa_l_1.1"/>
<target name="test_esc_mkk_simple" board="lisa_l_1.1"/>
<target name="test_esc_asctecv1_simple" board="lisa_l_1.1"/>
<target name="test_actuators_mkk" board="lisa_l_1.1"/>
<target name="test_actuators_asctecv1" board="lisa_l_1.1"/>
</firmware>
<firmware name="lisa_passthrough">
<target name="overo_test_passthrough" board="lisa_l_1.1" >
<configure name="HOST" value="A7"/>
<configure name="USER" value=""/>
<configure name="TARGET_DIR" value="~"/>
<configure name="PERIODIC_FREQ" value="512"/>
</target>
<target name="stm_passthrough" board="lisa_l_1.1">
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="imu" type="b2_v1.2"/>
</target>
</firmware>
-->
<servos min="0" neutral="0" max="0xff">
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" min="0" neutral="0" max="255"/>
<servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
<servo name="LEFT" no="3" min="0" neutral="0" max="255"/>
</servos>
<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<!-- for the sim -->
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
<define name="NB" value="4"/>
<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
</section>
<section name="SUPERVISION" prefix="SUPERVISION_">
<define name="MIN_MOTOR" value="2"/>
<define name="MAX_MOTOR" value="210"/>
<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"/>
<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 }"/>
</section>
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_NEUTRAL" value="32581"/>
<define name="GYRO_Q_NEUTRAL" value="32008"/>
<define name="GYRO_R_NEUTRAL" value="33207"/>
<define name="GYRO_P_SENS" value=".903" integer="16"/>
<define name="GYRO_Q_SENS" value=".905" integer="16"/>
<define name="GYRO_R_SENS" value=".893" integer="16"/>
<define name="GYRO_PQ_SENS" value="0.0" integer="16"/>
<define name="GYRO_PR_SENS" value="0.0" integer="16"/>
<define name="GYRO_QR_SENS" value="0.0" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="25950"/>
<define name="ACCEL_Y_NEUTRAL" value="26351"/>
<define name="ACCEL_Z_NEUTRAL" value="25696"/>
<define name="ACCEL_X_SENS" value="1.86342150011" integer="16"/>
<define name="ACCEL_Y_SENS" value="1.88378993899" integer="16"/>
<define name="ACCEL_Z_SENS" value="1.86557913201" integer="16"/>
<define name="ACCEL_XY_SENS" value="0.0" integer="16"/>
<define name="ACCEL_XZ_SENS" value="0.0" integer="16"/>
<define name="ACCEL_YZ_SENS" value="0.0" integer="16"/>
<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>
<define name="MAG_X_SENS" value="1." integer="16"/>
<define name="MAG_Y_SENS" value="1." integer="16"/>
<define name="MAG_Z_SENS" value="1." integer="16"/>
<define name="MAG_XY_SENS" value="0.0" integer="16"/>
<define name="MAG_XZ_SENS" value="0.0" integer="16"/>
<define name="MAG_YZ_SENS" value="0.0" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_HOVER_Z_HOLD"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="12.4" unit="V"/>
<define name="MAX_BAT_LEVEL" value="16.8" unit="V" />
<define name="CRITIC_BAT_LEVEL" value="13.0" unit="V" />
<define name="LOW_BAT_LEVEL" value="14.0" unit="V" />
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="45." unit="deg"/>
<define name="SP_MAX_THETA" value="45." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="DEADBAND_R" value="250"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.9"/>
<define name="REF_MAX_P" value="300." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.9"/>
<define name="REF_MAX_Q" value="300." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.9"/>
<define name="REF_MAX_R" value="180." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!--
<define name="PHI_PGAIN" value="-2000"/>
<define name="PHI_DGAIN" value="-400"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="-2000"/>
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="PSI_PGAIN" value="-2000"/>
<define name="PSI_DGAIN" value="-400"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PHI_DDGAIN" value=" 300"/>
<define name="THETA_DDGAIN" value=" 300"/>
<define name="PSI_DDGAIN" value=" 300"/>
-->
<!-- feedback -->
<define name="PHI_PGAIN" value="-900"/>
<define name="PHI_DGAIN" value="-200"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="-900"/>
<define name="THETA_DGAIN" value="-200"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="PSI_PGAIN" value="-900"/>
<define name="PSI_DGAIN" value="-200"/>
<define name="PSI_IGAIN" value="-10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 200"/>
<define name="THETA_DDGAIN" value=" 200"/>
<define name="PSI_DDGAIN" value=" 200"/>
</section>
<section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="H_X" value=" 0.3723657"/>
<define name="H_Y" value=" 0.1515225"/>
<define name="H_Z" value="-0.9156335"/>
</section>
<section name="INS" prefix="INS_">
<define name="BARO_SENS" value="10." integer="16"/>
</section>
<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.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="-150"/>
<define name="HOVER_KD" value="-80"/>
<define name="HOVER_KI" value="0"/>
<!--
<define name="HOVER_KP" value="-150"/>
<define name="HOVER_KD" value="-80"/>
<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="INV_M" value ="0.2"/> -->
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
<define name="NGAIN" value="-0"/>
</section>
<section name="MISC">
<define name="FACE_REINJ_1" value="1024"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
</airframe>
conf/airframes/UofAdelaide/A1000_BOOZ.xml
+24 -24
View File
@@ -152,13 +152,13 @@ second attempt
<define name="REF_TAU" value="4" />
<!-- feedback -->
<define name="GAIN_P" value="-400" />
<define name="GAIN_Q" value="-400" />
<define name="GAIN_R" value="-350" />
<define name="GAIN_P" value="400" />
<define name="GAIN_Q" value="400" />
<define name="GAIN_R" value="350" />
<define name="IGAIN_P" value="-75" />
<define name="IGAIN_Q" value="-75" />
<define name="IGAIN_R" value="-50" />
<define name="IGAIN_P" value="75" />
<define name="IGAIN_Q" value="75" />
<define name="IGAIN_R" value="50" />
<!-- feedforward -->
<define name="DDGAIN_P" value="300" />
@@ -166,9 +166,9 @@ second attempt
<define name="DDGAIN_R" value="300" />
<!-- original values
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/> -->
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/> -->
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
@@ -196,17 +196,17 @@ second attempt
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-400"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-380"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-75"/>
<define name="PSI_PGAIN" value="380"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="75"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
@@ -225,9 +225,9 @@ second attempt
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="-500"/>
<define name="HOVER_KD" value="-200"/>
<define name="HOVER_KI" value="-100"/>
<define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="200"/>
<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% -->
@@ -236,9 +236,9 @@ second attempt
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
<section name="BAT">
conf/airframes/UofAdelaide/A1000_LISA.xml
+25 -25
View File
@@ -84,9 +84,9 @@
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
@@ -115,13 +115,13 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback
<define name="PHI_PGAIN" value="-5000"/>
<define name="PHI_DGAIN" value="-400"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="5000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-5000"/>
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-400"/>
<define name="THETA_PGAIN" value="5000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="400"/>
<define name="PSI_PGAIN" value="2000"/>
<define name="PSI_DGAIN" value="350"/>
@@ -130,20 +130,20 @@
feedforward
<define name="PHI_DDGAIN" value=" 300"/>
<define name="THETA_DDGAIN" value=" 300"/>
<define name="PSI_DDGAIN" value=" -300"/> -->
<define name="PSI_DDGAIN" value="300"/> -->
<!-- feedback -->
<define name="PHI_PGAIN" value="-1500"/>
<define name="PHI_DGAIN" value="-30"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="1500"/>
<define name="PHI_DGAIN" value="30"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-1500"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="1500"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-1000"/>
<define name="PSI_DGAIN" value="-300"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="1000"/>
<define name="PSI_DGAIN" value="300"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
@@ -162,9 +162,9 @@
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="-500"/>
<define name="HOVER_KD" value="-200"/>
<define name="HOVER_KI" value="-100"/>
<define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="200"/>
<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% -->
@@ -174,9 +174,9 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
<section name="MISC">

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