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Pascal Brisset
2005-09-02 19:08:59 +00:00
parent ebc92ae1a2
commit 7db1fdf6d8
3 changed files with 20 additions and 19 deletions
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conf/airframes/gorazoptere_brushless_ANALOG.xml
+14 -13
View File
@@ -1,14 +1,14 @@
<airframe name="Gorazoptere_brushless_ANALOG" ctl_board="V1_2" gps="SAM_LS">
<airframe name="Gorazoptere_brushless_ANALOG" ctl_board="V1_2_1" gps="SAM_LS">
<section name="IMU_ANALOG" prefix="IMU_">
<define name="INIT_EULER_DOT_VARIANCE_MAX" value="3"/>
<define name="INIT_EULER_DOT_NB_SAMPLES_MIN" value ="10"/>
<define name="ADC_ROLL_DOT" value="1"/>
<define name="ADC_PITCH_DOT" value="2"/>
<define name="ADC_YAW_DOT" value="3"/>
<define name="ADC_ROLL_DOT_SIGN" value="+"/>
<define name="ADC_PITCH_DOT_SIGN" value="-"/>
<define name="ADC_YAW_DOT_SIGN" value="-"/>
<define name="ADC_ROLL_DOT_ZERO" value="512"/>
<define name="ADC_ROLL_DOT_SIGN" value="-1"/>
<define name="ADC_PITCH_DOT_SIGN" value="1"/>
<define name="ADC_YAW_DOT_SIGN" value="-1"/>
<define name="ADC_ROLL_DOT_ZERO" value="-512"/>
<define name="ADC_PITCH_DOT_ZERO" value="512"/>
<define name="ADC_YAW_DOT_ZERO" value="512"/>
<define name="ADC_ROLL_DOT_SCALE" value="(real_t) (0.9444 * 3.14159 / 180.0)"/>
@@ -23,16 +23,16 @@
<define name="ADC_ACCELX_ZERO" value="0x24A"/>
<define name="ADC_ACCELY_ZERO" value="0x280"/>
<define name="ADC_ACCELZ_ZERO" value="0x210"/>
<define name="ADC_ACCELX_SCALE" value="0x24A"/>
<define name="ADC_ACCELX_SCALE" value="0x24A"/>
<define name="ADC_ACCELY_SCALE" value="0x280"/>
<define name="ADC_ACCELZ_SCALE" value="0x210"/>
</section>
<section name="RATE_LOOP">
<define name="ROLL_DOT_PGAIN" value="-192."/>
<define name="ROLL_DOT_PGAIN" value="-100."/>
<define name="ROLL_DOT_IGAIN" value="0."/>
<define name="ROLL_DOT_DGAIN" value="0."/>
<define name="PITCH_DOT_PGAIN" value="-192."/>
<define name="PITCH_DOT_PGAIN" value="-100."/>
<define name="PITCH_DOT_IGAIN" value="0."/>
<define name="PITCH_DOT_DGAIN" value="0."/>
<define name="YAW_DOT_PGAIN" value="-100."/>
@@ -47,6 +47,7 @@
<section name="adc" prefix="ADC_CHANNEL_">
<define name="IR1" value="0"/>
<define name="IR2" value="1"/>
<define name="VSUPPLY" value="6"/>
</section>
<servos min="1000" neutral="1500" max="2000">
<servo name="MOTOR_FRONT" no="1" min="1250" neutral="1250" max="1850"/>
@@ -57,7 +58,7 @@
<command>
<let var="roll" value="0.3 * @ROLL"/>
<let var="pitch" value="0.3 * @PITCH"/>
<let var="yaw" value="0.4 * @YAW"/>
<let var="yaw" value="-0.4 * @YAW"/>
<let var="throttle" value="2.0 * @THROTTLE"/>
<set servo="MOTOR_FRONT" value="$throttle + $pitch - $yaw"/>
<set servo="MOTOR_BACK" value="$throttle - $pitch - $yaw"/>
@@ -65,12 +66,12 @@
<set servo="MOTOR_LEFT" value="$throttle - $roll + $yaw"/>
</command>
<section name="INFRARED" prefix="IR_">
<define name="ROLL_NEUTRAL_DEFAULT" value="-1024"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0"/>
<define name="ROLL_NEUTRAL_DEFAULT" value="0"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="1024"/>
<define name="DEFAULT_CONTRAST" value="200"/>
<define name="RAD_OF_IR_CONTRAST" value="0.75"/>
<linear name="RollOfIrs" arity="2" coeff1="-1" coeff2="-1"/>
<linear name="PitchOfIrs" arity="2" coeff1="-1" coeff2="1"/>
<linear name="RollOfIrs" arity="2" coeff1="-1" coeff2="1"/>
<linear name="PitchOfIrs" arity="2" coeff1="1" coeff2="1"/>
</section>
<section name="PID">
<define name="ROLL_PGAIN" value="15000."/>
conf/airframes/ladybug.xml
+2 -2
View File
@@ -21,7 +21,7 @@
<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
</section>
<section name="INFRARED" prefix="IR_">
<define name="ROLL_NEUTRAL_DEFAULT" value="-45"/>
<define name="ROLL_NEUTRAL_DEFAULT" value="10"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="1125"/>
<define name="DEFAULT_CONTRAST" value="400"/>
<define name="RAD_OF_IR_CONTRAST" value="0.6"/>
@@ -57,7 +57,7 @@
<define name="VOLTAGE_ADC_A" value="0.012932"/>
<define name="VOLTAGE_ADC_B" value="0.073729"/>
<define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
<define name="LOW_BATTERY" value="60" unit="1e-1V"/>
<define name="LOW_BATTERY" value="90" unit="1e-1V"/>
</section>
<section name="SERVOS" channel="6">
<define name="SERVOS_VOLTAGE_ADC_A" value="0.005661"/>
conf/airframes/plaster1.xml
+4 -4
View File
@@ -1,14 +1,14 @@
<!-- axi 2204-54 / GWS 8*4.3 / 3 lipos 740mah / 9.5a -->
<airframe name="Plaster White 1" ctl_board="V1_2" gps="SAM_LS">
<airframe name="Plaster White 1" ctl_board="V1_2_1" gps="SAM_LS">
<section name="adc" prefix="ADC_CHANNEL_">
<define name="IR1" value="1"/>
<define name="IR2" value="0"/>
</section>
<servos min="1000" neutral="1500" max="2000">
<servo name="GAZ" no="0" min="1000" neutral="1000" max="1750"/>
<servo name="AILEVON_RIGHT" no="5" min="1800" neutral="1480" max="1200"/>
<servo name="AILEVON_LEFT" no="1" min="1800" neutral="1480" max="1200"/>
<servo name="AILEVON_RIGHT" no="2" min="1800" neutral="1480" max="1200"/>
<servo name="AILEVON_LEFT" no="6" min="1800" neutral="1480" max="1200"/>
</servos>
<command>
<set servo="GAZ" value="2 * @THROTTLE"/>
@@ -23,7 +23,7 @@
</section>
<section name="INFRARED" prefix="IR_">
<define name="ROLL_NEUTRAL_DEFAULT" value="-1040"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="70"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="125"/>
<define name="DEFAULT_CONTRAST" value="400"/>
<define name="RAD_OF_IR_CONTRAST" value="0.6"/>
<linear name="RollOfIrs" arity="2" coeff1="-1" coeff2="-1"/>