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PFC struct to field (#3315)

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* start converting structs to readable

* Comvert all airframes
This commit is contained in:
Christophe De Wagter
2024-06-16 14:50:15 +02:00
committed by GitHub
parent 3d87525cd1
commit 7fd72c8fbf
6 changed files with 722 additions and 10 deletions
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118
conf/airframes/tudelft/rot_wing_v3b.xml
View File

@@ -330,8 +330,122 @@
<define name="VoltageOfAdc(adc)" value="((3.3f/65536.0f) * 11.98389 * adc)"/>
<define name="VBoardOfAdc(adc)" value="((3.3f/65536.0f) * 1.89036 * adc)"/>
<!-- Preflight check actuators (ELE, RUD, AIL_L, FLAP_L, FLAP_R, AIL_R, ROT_M, M_FRONT, M_RIGHT_, M_BACK, M_LEFT, M_PUSH) -->
<define name="PFC_ACTUATORS" value="{{.feedback_id=255, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=0.85, .high_feedback=0.3, .timeout=1},{.feedback_id=255, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_AIL_LEFT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_FLAP_LEFT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_FLAP_RIGHT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_AIL_RIGHT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_ROTATION_MECH_IDX, .low=-9600, .high=9600, .low_feedback=1.57, .high_feedback=0, .timeout=5},{.feedback_id=SERVO_MOTOR_FRONT_IDX, .feedback_id2=SERVO_BMOTOR_FRONT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_RIGHT_IDX, .feedback_id2=SERVO_BMOTOR_RIGHT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_BACK_IDX, .feedback_id2=SERVO_BMOTOR_BACK_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_LEFT_IDX, .feedback_id2=SERVO_BMOTOR_LEFT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_PUSH_IDX, .feedback_id2=255, .low=-9600, .high=2000, .low_feedback=0, .high_feedback=1800, .timeout=3}}"/>
<!-- Preflight check actuators (ELE, RUD, AIL_L, FLAP_L, AIL_R, FLAP_R, ROT_M, M_FRONT, M_RIGHT_, M_BACK, M_LEFT, M_PUSH) -->
<define name="PFC_ACTUATORS" type="array">
<!-- Aerodynamic -->
<field type="struct">
<field name="feedback_id" value="255"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-4500"/>
<field name="high" value="4500"/>
<field name="low_feedback" value="0.85"/>
<field name="high_feedback" value="0.3"/>
<field name="timeout" value="1"/>
</field>
<field type="struct">
<field name="feedback_id" value="255"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-4500"/>
<field name="high" value="4500"/>
<field name="low_feedback" value="-0.15"/>
<field name="high_feedback" value="0.15"/>
<field name="timeout" value="1"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_AIL_LEFT_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-4500"/>
<field name="high" value="4500"/>
<field name="low_feedback" value="-0.15"/>
<field name="high_feedback" value="0.15"/>
<field name="timeout" value="1"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_FLAP_LEFT_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-4500"/>
<field name="high" value="4500"/>
<field name="low_feedback" value="-0.15"/>
<field name="high_feedback" value="0.15"/>
<field name="timeout" value="1"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_FLAP_RIGHT_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-4500"/>
<field name="high" value="4500"/>
<field name="low_feedback" value="-0.15"/>
<field name="high_feedback" value="0.15"/>
<field name="timeout" value="1"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_AIL_RIGHT_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-4500"/>
<field name="high" value="4500"/>
<field name="low_feedback" value="-0.15"/>
<field name="high_feedback" value="0.15"/>
<field name="timeout" value="1"/>
</field>
<!-- Rotation -->
<field type="struct">
<field name="feedback_id" value="SERVO_ROTATION_MECH_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-9600"/>
<field name="high" value="9600"/>
<field name="low_feedback" value="1.57"/>
<field name="high_feedback" value="0"/>
<field name="timeout" value="5"/>
</field>
<!-- Motors -->
<field type="struct">
<field name="feedback_id" value="SERVO_MOTOR_FRONT_IDX"/>
<field name="feedback_id2" value="SERVO_BMOTOR_FRONT_IDX"/>
<field name="low" value="-9600"/>
<field name="high" value="0"/>
<field name="low_feedback" value="0"/>
<field name="high_feedback" value="975"/>
<field name="timeout" value="3"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_MOTOR_RIGHT_IDX"/>
<field name="feedback_id2" value="SERVO_BMOTOR_RIGHT_IDX"/>
<field name="low" value="-9600"/>
<field name="high" value="0"/>
<field name="low_feedback" value="0"/>
<field name="high_feedback" value="975"/>
<field name="timeout" value="3"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_MOTOR_BACK_IDX"/>
<field name="feedback_id2" value="SERVO_BMOTOR_BACK_IDX"/>
<field name="low" value="-9600"/>
<field name="high" value="0"/>
<field name="low_feedback" value="0"/>
<field name="high_feedback" value="975"/>
<field name="timeout" value="3"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_MOTOR_LEFT_IDX"/>
<field name="feedback_id2" value="SERVO_BMOTOR_LEFT_IDX"/>
<field name="low" value="-9600"/>
<field name="high" value="0"/>
<field name="low_feedback" value="0"/>
<field name="high_feedback" value="975"/>
<field name="timeout" value="3"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_MOTOR_PUSH_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-9600"/>
<field name="high" value="2000"/>
<field name="low_feedback" value="0"/>
<field name="high_feedback" value="1800"/>
<field name="timeout" value="3"/>
</field>
</define>
<!-- Others -->
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>

129
conf/airframes/tudelft/rot_wing_v3d.xml
View File

@@ -318,8 +318,122 @@
<define name="VoltageOfAdc(adc)" value="((3.3f/65536.0f) * 11.98389 * adc)"/>
<define name="VBoardOfAdc(adc)" value="((3.3f/65536.0f) * 1.89036 * adc)"/>
<!-- Preflight check actuators (ELE, RUD, AIL_L, FLAP_L, FLAP_R, AIL_R, ROT_M, M_FRONT, M_RIGHT_, M_BACK, M_LEFT, M_PUSH) -->
<define name="PFC_ACTUATORS" value="{{.feedback_id=SERVO_SERVO_ELEVATOR_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=0.85, .high_feedback=0.3, .timeout=1},{.feedback_id=SERVO_SERVO_RUDDER_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.30, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_AIL_LEFT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_FLAP_LEFT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_FLAP_RIGHT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_AIL_RIGHT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_ROTATION_MECH_IDX, .feedback_id2=SERVO_BROTATION_MECH_IDX, .low=-9600, .high=9600, .low_feedback=1.57, .high_feedback=0, .timeout=5},{.feedback_id=SERVO_MOTOR_FRONT_IDX, .feedback_id2=SERVO_BMOTOR_FRONT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_RIGHT_IDX, .feedback_id2=SERVO_BMOTOR_RIGHT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_BACK_IDX, .feedback_id2=SERVO_BMOTOR_BACK_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_LEFT_IDX, .feedback_id2=SERVO_BMOTOR_LEFT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_PUSH_IDX, .feedback_id2=255, .low=-9600, .high=2000, .low_feedback=0, .high_feedback=2200, .timeout=3}}"/>
<!-- Preflight check actuators (ELE, RUD, AIL_L, FLAP_L, AIL_R, FLAP_R, ROT_M, M_FRONT, M_RIGHT_, M_BACK, M_LEFT, M_PUSH) -->
<define name="PFC_ACTUATORS" type="array">
<!-- Aerodynamic -->
<field type="struct">
<field name="feedback_id" value="SERVO_SERVO_ELEVATOR_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-4500"/>
<field name="high" value="4500"/>
<field name="low_feedback" value="0.85"/>
<field name="high_feedback" value="0.3"/>
<field name="timeout" value="1"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_SERVO_RUDDER_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-4500"/>
<field name="high" value="4500"/>
<field name="low_feedback" value="-0.30"/>
<field name="high_feedback" value="0.15"/>
<field name="timeout" value="1"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_AIL_LEFT_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-4500"/>
<field name="high" value="4500"/>
<field name="low_feedback" value="-0.15"/>
<field name="high_feedback" value="0.15"/>
<field name="timeout" value="1"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_FLAP_LEFT_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-4500"/>
<field name="high" value="4500"/>
<field name="low_feedback" value="-0.15"/>
<field name="high_feedback" value="0.15"/>
<field name="timeout" value="1"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_FLAP_RIGHT_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-4500"/>
<field name="high" value="4500"/>
<field name="low_feedback" value="-0.15"/>
<field name="high_feedback" value="0.15"/>
<field name="timeout" value="1"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_AIL_RIGHT_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-4500"/>
<field name="high" value="4500"/>
<field name="low_feedback" value="-0.15"/>
<field name="high_feedback" value="0.15"/>
<field name="timeout" value="1"/>
</field>
<!-- Rotation -->
<field type="struct">
<field name="feedback_id" value="SERVO_ROTATION_MECH_IDX"/>
<field name="feedback_id2" value="SERVO_BROTATION_MECH_IDX"/>
<field name="low" value="-9600"/>
<field name="high" value="9600"/>
<field name="low_feedback" value="1.57"/>
<field name="high_feedback" value="0"/>
<field name="timeout" value="5"/>
</field>
<!-- Motors -->
<field type="struct">
<field name="feedback_id" value="SERVO_MOTOR_FRONT_IDX"/>
<field name="feedback_id2" value="SERVO_BMOTOR_FRONT_IDX"/>
<field name="low" value="-9600"/>
<field name="high" value="0"/>
<field name="low_feedback" value="0"/>
<field name="high_feedback" value="975"/>
<field name="timeout" value="3"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_MOTOR_RIGHT_IDX"/>
<field name="feedback_id2" value="SERVO_BMOTOR_RIGHT_IDX"/>
<field name="low" value="-9600"/>
<field name="high" value="0"/>
<field name="low_feedback" value="0"/>
<field name="high_feedback" value="975"/>
<field name="timeout" value="3"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_MOTOR_BACK_IDX"/>
<field name="feedback_id2" value="SERVO_BMOTOR_BACK_IDX"/>
<field name="low" value="-9600"/>
<field name="high" value="0"/>
<field name="low_feedback" value="0"/>
<field name="high_feedback" value="975"/>
<field name="timeout" value="3"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_MOTOR_LEFT_IDX"/>
<field name="feedback_id2" value="SERVO_BMOTOR_LEFT_IDX"/>
<field name="low" value="-9600"/>
<field name="high" value="0"/>
<field name="low_feedback" value="0"/>
<field name="high_feedback" value="975"/>
<field name="timeout" value="3"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_MOTOR_PUSH_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-9600"/>
<field name="high" value="2000"/>
<field name="low_feedback" value="0"/>
<field name="high_feedback" value="2200"/>
<field name="timeout" value="3"/>
</field>
</define>
<!-- Others -->
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
@@ -496,6 +610,7 @@
<define name="MAX_PITCH" value="12"/>
<define name="MIN_PITCH" value="-20"/>
<define name="MAX_LAT_ACCEL" value="5.0"/>
<define name="ACCEL_FWD_BX_LIM" value="3.0"/>
</section>
<section name="FORWARD">
@@ -506,12 +621,16 @@
<section name="AMT" prefix="APPROACH_MOVING_TARGET_">
<define name="CUTOFF_FREQ_FILTERS_HZ" value="0.25"/>
<define name="ERR_SLOWDOWN_GAIN" value="0.25" />
<define name="SLOPE" value="60.0"/>
<define name="ERR_SLOWDOWN_GAIN" value="0.1" />
<define name="SLOPE" value="50.0"/>
<define name="DISTANCE" value="70.0"/>
<define name="SPEED" value="0.0"/>
</section>
<section name="TARGET_POS">
<define name="TARGET_OFFSET_DISTANCE" value="20.0"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_FORWARD"/>
@@ -547,7 +666,9 @@
<item name="tail connection">Check tail connection</item>
<item name="wing tape">Check wings taped and secured</item>
<item name="attitude">Check attitude and heading</item>
<item name="airspeed">Airspeed sensor calibration</item>
<item name="takeoff location">Put UAV on take-off location</item>
<item name="actuators">Automated actuator check</item>
<item name="flight plan">Check flight plan</item>
<item name="flight block">Switch to correct flight block</item>
<item name="camera">Switch on camera</item>

123
conf/airframes/tudelft/rot_wing_v3e.xml
View File

@@ -319,7 +319,121 @@
<define name="VBoardOfAdc(adc)" value="((3.3f/65536.0f) * 1.89036 * adc)"/>
<!-- Preflight check actuators (ELE, RUD, AIL_L, FLAP_L, AIL_R, FLAP_R, ROT_M, M_FRONT, M_RIGHT_, M_BACK, M_LEFT, M_PUSH) -->
<define name="PFC_ACTUATORS" value="{{.feedback_id=SERVO_SERVO_ELEVATOR_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=0.85, .high_feedback=0.3, .timeout=1},{.feedback_id=SERVO_SERVO_RUDDER_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_AIL_LEFT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_FLAP_LEFT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_FLAP_RIGHT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_AIL_RIGHT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_ROTATION_MECH_IDX, .feedback_id2=SERVO_BROTATION_MECH_IDX, .low=-9600, .high=9600, .low_feedback=1.57, .high_feedback=0, .timeout=5},{.feedback_id=SERVO_MOTOR_FRONT_IDX, .feedback_id2=SERVO_BMOTOR_FRONT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_RIGHT_IDX, .feedback_id2=SERVO_BMOTOR_RIGHT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_BACK_IDX, .feedback_id2=SERVO_BMOTOR_BACK_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_LEFT_IDX, .feedback_id2=SERVO_BMOTOR_LEFT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_PUSH_IDX, .feedback_id2=255, .low=-9600, .high=2000, .low_feedback=0, .high_feedback=2200, .timeout=3}}"/>
<define name="PFC_ACTUATORS" type="array">
<!-- Aerodynamic -->
<field type="struct">
<field name="feedback_id" value="SERVO_SERVO_ELEVATOR_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-4500"/>
<field name="high" value="4500"/>
<field name="low_feedback" value="0.85"/>
<field name="high_feedback" value="0.3"/>
<field name="timeout" value="1"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_SERVO_RUDDER_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-4500"/>
<field name="high" value="4500"/>
<field name="low_feedback" value="-0.15"/>
<field name="high_feedback" value="0.15"/>
<field name="timeout" value="1"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_AIL_LEFT_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-4500"/>
<field name="high" value="4500"/>
<field name="low_feedback" value="-0.15"/>
<field name="high_feedback" value="0.15"/>
<field name="timeout" value="1"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_FLAP_LEFT_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-4500"/>
<field name="high" value="4500"/>
<field name="low_feedback" value="-0.15"/>
<field name="high_feedback" value="0.15"/>
<field name="timeout" value="1"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_FLAP_RIGHT_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-4500"/>
<field name="high" value="4500"/>
<field name="low_feedback" value="-0.15"/>
<field name="high_feedback" value="0.15"/>
<field name="timeout" value="1"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_AIL_RIGHT_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-4500"/>
<field name="high" value="4500"/>
<field name="low_feedback" value="-0.15"/>
<field name="high_feedback" value="0.15"/>
<field name="timeout" value="1"/>
</field>
<!-- Rotation -->
<field type="struct">
<field name="feedback_id" value="SERVO_ROTATION_MECH_IDX"/>
<field name="feedback_id2" value="SERVO_BROTATION_MECH_IDX"/>
<field name="low" value="-9600"/>
<field name="high" value="9600"/>
<field name="low_feedback" value="1.57"/>
<field name="high_feedback" value="0"/>
<field name="timeout" value="5"/>
</field>
<!-- Motors -->
<field type="struct">
<field name="feedback_id" value="SERVO_MOTOR_FRONT_IDX"/>
<field name="feedback_id2" value="SERVO_BMOTOR_FRONT_IDX"/>
<field name="low" value="-9600"/>
<field name="high" value="0"/>
<field name="low_feedback" value="0"/>
<field name="high_feedback" value="975"/>
<field name="timeout" value="3"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_MOTOR_RIGHT_IDX"/>
<field name="feedback_id2" value="SERVO_BMOTOR_RIGHT_IDX"/>
<field name="low" value="-9600"/>
<field name="high" value="0"/>
<field name="low_feedback" value="0"/>
<field name="high_feedback" value="975"/>
<field name="timeout" value="3"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_MOTOR_BACK_IDX"/>
<field name="feedback_id2" value="SERVO_BMOTOR_BACK_IDX"/>
<field name="low" value="-9600"/>
<field name="high" value="0"/>
<field name="low_feedback" value="0"/>
<field name="high_feedback" value="975"/>
<field name="timeout" value="3"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_MOTOR_LEFT_IDX"/>
<field name="feedback_id2" value="SERVO_BMOTOR_LEFT_IDX"/>
<field name="low" value="-9600"/>
<field name="high" value="0"/>
<field name="low_feedback" value="0"/>
<field name="high_feedback" value="975"/>
<field name="timeout" value="3"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_MOTOR_PUSH_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-9600"/>
<field name="high" value="2000"/>
<field name="low_feedback" value="0"/>
<field name="high_feedback" value="2200"/>
<field name="timeout" value="3"/>
</field>
</define>
<!-- Others -->
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
@@ -496,6 +610,7 @@
<define name="MAX_PITCH" value="12"/>
<define name="MIN_PITCH" value="-20"/>
<define name="MAX_LAT_ACCEL" value="5.0"/>
<define name="ACCEL_FWD_BX_LIM" value="3.0"/>
</section>
<section name="FORWARD">
@@ -512,6 +627,10 @@
<define name="SPEED" value="0.0"/>
</section>
<section name="TARGET_POS">
<define name="TARGET_OFFSET_DISTANCE" value="20.0"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_FORWARD"/>
@@ -547,7 +666,9 @@
<item name="tail connection">Check tail connection</item>
<item name="wing tape">Check wings taped and secured</item>
<item name="attitude">Check attitude and heading</item>
<item name="airspeed">Airspeed sensor calibration</item>
<item name="takeoff location">Put UAV on take-off location</item>
<item name="actuators">Automated actuator check</item>
<item name="flight plan">Check flight plan</item>
<item name="flight block">Switch to correct flight block</item>
<item name="camera">Switch on camera</item>

123
conf/airframes/tudelft/rot_wing_v3f.xml
View File

@@ -319,7 +319,121 @@
<define name="VBoardOfAdc(adc)" value="((3.3f/65536.0f) * 1.89036 * adc)"/>
<!-- Preflight check actuators (ELE, RUD, AIL_L, FLAP_L, AIL_R, FLAP_R, ROT_M, M_FRONT, M_RIGHT_, M_BACK, M_LEFT, M_PUSH) -->
<define name="PFC_ACTUATORS" value="{{.feedback_id=SERVO_SERVO_ELEVATOR_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=0.35, .high_feedback=-0.1, .timeout=1},{.feedback_id=SERVO_SERVO_RUDDER_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.20, .high_feedback=0.20, .timeout=1},{.feedback_id=SERVO_AIL_LEFT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_FLAP_LEFT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_FLAP_RIGHT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_AIL_RIGHT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_ROTATION_MECH_IDX, .feedback_id2=SERVO_BROTATION_MECH_IDX, .low=-9600, .high=9600, .low_feedback=1.57, .high_feedback=0, .timeout=5},{.feedback_id=SERVO_MOTOR_FRONT_IDX, .feedback_id2=SERVO_BMOTOR_FRONT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_RIGHT_IDX, .feedback_id2=SERVO_BMOTOR_RIGHT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_BACK_IDX, .feedback_id2=SERVO_BMOTOR_BACK_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_LEFT_IDX, .feedback_id2=SERVO_BMOTOR_LEFT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_PUSH_IDX, .feedback_id2=255, .low=-9600, .high=2000, .low_feedback=0, .high_feedback=2000, .timeout=3}}"/>
<define name="PFC_ACTUATORS" type="array">
<!-- Aerodynamic -->
<field type="struct">
<field name="feedback_id" value="SERVO_SERVO_ELEVATOR_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-4500"/>
<field name="high" value="4500"/>
<field name="low_feedback" value="0.35"/>
<field name="high_feedback" value="-0.1"/>
<field name="timeout" value="1"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_SERVO_RUDDER_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-4500"/>
<field name="high" value="4500"/>
<field name="low_feedback" value="-0.20"/>
<field name="high_feedback" value="0.20"/>
<field name="timeout" value="1"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_AIL_LEFT_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-4500"/>
<field name="high" value="4500"/>
<field name="low_feedback" value="-0.15"/>
<field name="high_feedback" value="0.15"/>
<field name="timeout" value="1"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_FLAP_LEFT_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-4500"/>
<field name="high" value="4500"/>
<field name="low_feedback" value="-0.15"/>
<field name="high_feedback" value="0.15"/>
<field name="timeout" value="1"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_FLAP_RIGHT_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-4500"/>
<field name="high" value="4500"/>
<field name="low_feedback" value="-0.15"/>
<field name="high_feedback" value="0.15"/>
<field name="timeout" value="1"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_AIL_RIGHT_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-4500"/>
<field name="high" value="4500"/>
<field name="low_feedback" value="-0.15"/>
<field name="high_feedback" value="0.15"/>
<field name="timeout" value="1"/>
</field>
<!-- Rotation -->
<field type="struct">
<field name="feedback_id" value="SERVO_ROTATION_MECH_IDX"/>
<field name="feedback_id2" value="SERVO_BROTATION_MECH_IDX"/>
<field name="low" value="-9600"/>
<field name="high" value="9600"/>
<field name="low_feedback" value="1.57"/>
<field name="high_feedback" value="0"/>
<field name="timeout" value="5"/>
</field>
<!-- Motors -->
<field type="struct">
<field name="feedback_id" value="SERVO_MOTOR_FRONT_IDX"/>
<field name="feedback_id2" value="SERVO_BMOTOR_FRONT_IDX"/>
<field name="low" value="-9600"/>
<field name="high" value="0"/>
<field name="low_feedback" value="0"/>
<field name="high_feedback" value="975"/>
<field name="timeout" value="3"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_MOTOR_RIGHT_IDX"/>
<field name="feedback_id2" value="SERVO_BMOTOR_RIGHT_IDX"/>
<field name="low" value="-9600"/>
<field name="high" value="0"/>
<field name="low_feedback" value="0"/>
<field name="high_feedback" value="975"/>
<field name="timeout" value="3"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_MOTOR_BACK_IDX"/>
<field name="feedback_id2" value="SERVO_BMOTOR_BACK_IDX"/>
<field name="low" value="-9600"/>
<field name="high" value="0"/>
<field name="low_feedback" value="0"/>
<field name="high_feedback" value="975"/>
<field name="timeout" value="3"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_MOTOR_LEFT_IDX"/>
<field name="feedback_id2" value="SERVO_BMOTOR_LEFT_IDX"/>
<field name="low" value="-9600"/>
<field name="high" value="0"/>
<field name="low_feedback" value="0"/>
<field name="high_feedback" value="975"/>
<field name="timeout" value="3"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_MOTOR_PUSH_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-9600"/>
<field name="high" value="2000"/>
<field name="low_feedback" value="0"/>
<field name="high_feedback" value="2000"/>
<field name="timeout" value="3"/>
</field>
</define>
<!-- Others -->
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
@@ -496,6 +610,7 @@
<define name="MAX_PITCH" value="12"/>
<define name="MIN_PITCH" value="-20"/>
<define name="MAX_LAT_ACCEL" value="5.0"/>
<define name="ACCEL_FWD_BX_LIM" value="3.0"/>
</section>
<section name="FORWARD">
@@ -512,6 +627,10 @@
<define name="SPEED" value="0.0"/>
</section>
<section name="TARGET_POS">
<define name="TARGET_OFFSET_DISTANCE" value="20.0"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_FORWARD"/>
@@ -547,7 +666,9 @@
<item name="tail connection">Check tail connection</item>
<item name="wing tape">Check wings taped and secured</item>
<item name="attitude">Check attitude and heading</item>
<item name="airspeed">Airspeed sensor calibration</item>
<item name="takeoff location">Put UAV on take-off location</item>
<item name="actuators">Automated actuator check</item>
<item name="flight plan">Check flight plan</item>
<item name="flight block">Switch to correct flight block</item>
<item name="camera">Switch on camera</item>

116
conf/airframes/tudelft/rot_wing_v3g.xml
View File

@@ -324,7 +324,121 @@
<define name="VBoardOfAdc(adc)" value="((3.3f/65536.0f) * 1.89036 * adc)"/>
<!-- Preflight check actuators (ELE, RUD, AIL_L, FLAP_L, AIL_R, FLAP_R, ROT_M, M_FRONT, M_RIGHT_, M_BACK, M_LEFT, M_PUSH) -->
<define name="PFC_ACTUATORS" value="{{.feedback_id=SERVO_SERVO_ELEVATOR_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=0.56, .high_feedback=0.09, .timeout=1},{.feedback_id=SERVO_SERVO_RUDDER_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.25, .high_feedback=0.25, .timeout=1},{.feedback_id=SERVO_AIL_LEFT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_FLAP_LEFT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_FLAP_RIGHT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_AIL_RIGHT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_ROTATION_MECH_IDX, .feedback_id2=SERVO_BROTATION_MECH_IDX, .low=-9600, .high=9600, .low_feedback=1.57, .high_feedback=0, .timeout=5},{.feedback_id=SERVO_MOTOR_FRONT_IDX, .feedback_id2=SERVO_BMOTOR_FRONT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_RIGHT_IDX, .feedback_id2=SERVO_BMOTOR_RIGHT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_BACK_IDX, .feedback_id2=SERVO_BMOTOR_BACK_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_LEFT_IDX, .feedback_id2=SERVO_BMOTOR_LEFT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_PUSH_IDX, .feedback_id2=255, .low=-9600, .high=2000, .low_feedback=0, .high_feedback=2200, .timeout=3}}"/>
<define name="PFC_ACTUATORS" type="array">
<!-- Aerodynamic -->
<field type="struct">
<field name="feedback_id" value="SERVO_SERVO_ELEVATOR_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-4500"/>
<field name="high" value="4500"/>
<field name="low_feedback" value="0.56"/>
<field name="high_feedback" value="0.09"/>
<field name="timeout" value="1"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_SERVO_RUDDER_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-4500"/>
<field name="high" value="4500"/>
<field name="low_feedback" value="-0.25"/>
<field name="high_feedback" value="0.25"/>
<field name="timeout" value="1"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_AIL_LEFT_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-4500"/>
<field name="high" value="4500"/>
<field name="low_feedback" value="-0.15"/>
<field name="high_feedback" value="0.15"/>
<field name="timeout" value="1"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_FLAP_LEFT_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-4500"/>
<field name="high" value="4500"/>
<field name="low_feedback" value="-0.15"/>
<field name="high_feedback" value="0.15"/>
<field name="timeout" value="1"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_FLAP_RIGHT_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-4500"/>
<field name="high" value="4500"/>
<field name="low_feedback" value="-0.15"/>
<field name="high_feedback" value="0.15"/>
<field name="timeout" value="1"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_AIL_RIGHT_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-4500"/>
<field name="high" value="4500"/>
<field name="low_feedback" value="-0.15"/>
<field name="high_feedback" value="0.15"/>
<field name="timeout" value="1"/>
</field>
<!-- Rotation -->
<field type="struct">
<field name="feedback_id" value="SERVO_ROTATION_MECH_IDX"/>
<field name="feedback_id2" value="SERVO_BROTATION_MECH_IDX"/>
<field name="low" value="-9600"/>
<field name="high" value="9600"/>
<field name="low_feedback" value="1.57"/>
<field name="high_feedback" value="0"/>
<field name="timeout" value="5"/>
</field>
<!-- Motors -->
<field type="struct">
<field name="feedback_id" value="SERVO_MOTOR_FRONT_IDX"/>
<field name="feedback_id2" value="SERVO_BMOTOR_FRONT_IDX"/>
<field name="low" value="-9600"/>
<field name="high" value="0"/>
<field name="low_feedback" value="0"/>
<field name="high_feedback" value="975"/>
<field name="timeout" value="3"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_MOTOR_RIGHT_IDX"/>
<field name="feedback_id2" value="SERVO_BMOTOR_RIGHT_IDX"/>
<field name="low" value="-9600"/>
<field name="high" value="0"/>
<field name="low_feedback" value="0"/>
<field name="high_feedback" value="975"/>
<field name="timeout" value="3"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_MOTOR_BACK_IDX"/>
<field name="feedback_id2" value="SERVO_BMOTOR_BACK_IDX"/>
<field name="low" value="-9600"/>
<field name="high" value="0"/>
<field name="low_feedback" value="0"/>
<field name="high_feedback" value="975"/>
<field name="timeout" value="3"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_MOTOR_LEFT_IDX"/>
<field name="feedback_id2" value="SERVO_BMOTOR_LEFT_IDX"/>
<field name="low" value="-9600"/>
<field name="high" value="0"/>
<field name="low_feedback" value="0"/>
<field name="high_feedback" value="975"/>
<field name="timeout" value="3"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_MOTOR_PUSH_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-9600"/>
<field name="high" value="2000"/>
<field name="low_feedback" value="0"/>
<field name="high_feedback" value="2200"/>
<field name="timeout" value="3"/>
</field>
</define>
<!-- Others -->
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>

123
conf/airframes/tudelft/rot_wing_v3h.xml
View File

@@ -324,7 +324,121 @@
<define name="VBoardOfAdc(adc)" value="((3.3f/65536.0f) * 1.89036 * adc)"/>
<!-- Preflight check actuators (ELE, RUD, AIL_L, FLAP_L, AIL_R, FLAP_R, ROT_M, M_FRONT, M_RIGHT_, M_BACK, M_LEFT, M_PUSH) -->
<define name="PFC_ACTUATORS" value="{{.feedback_id=SERVO_SERVO_ELEVATOR_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=0.15, .high_feedback=0.3, .timeout=1},{.feedback_id=SERVO_SERVO_RUDDER_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.20, .timeout=1},{.feedback_id=SERVO_AIL_LEFT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_FLAP_LEFT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_FLAP_RIGHT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_AIL_RIGHT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_ROTATION_MECH_IDX, .feedback_id2=SERVO_BROTATION_MECH_IDX, .low=-9600, .high=9600, .low_feedback=1.57, .high_feedback=0, .timeout=5},{.feedback_id=SERVO_MOTOR_FRONT_IDX, .feedback_id2=SERVO_BMOTOR_FRONT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_RIGHT_IDX, .feedback_id2=SERVO_BMOTOR_RIGHT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_BACK_IDX, .feedback_id2=SERVO_BMOTOR_BACK_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_LEFT_IDX, .feedback_id2=SERVO_BMOTOR_LEFT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_PUSH_IDX, .feedback_id2=255, .low=-9600, .high=2000, .low_feedback=0, .high_feedback=2000, .timeout=3}}"/>
<define name="PFC_ACTUATORS" type="array">
<!-- Aerodynamic -->
<field type="struct">
<field name="feedback_id" value="SERVO_SERVO_ELEVATOR_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-4500"/>
<field name="high" value="4500"/>
<field name="low_feedback" value="0.15"/>
<field name="high_feedback" value="0.3"/>
<field name="timeout" value="1"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_SERVO_RUDDER_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-4500"/>
<field name="high" value="4500"/>
<field name="low_feedback" value="-0.15"/>
<field name="high_feedback" value="0.2"/>
<field name="timeout" value="1"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_AIL_LEFT_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-4500"/>
<field name="high" value="4500"/>
<field name="low_feedback" value="-0.15"/>
<field name="high_feedback" value="0.15"/>
<field name="timeout" value="1"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_FLAP_LEFT_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-4500"/>
<field name="high" value="4500"/>
<field name="low_feedback" value="-0.15"/>
<field name="high_feedback" value="0.15"/>
<field name="timeout" value="1"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_FLAP_RIGHT_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-4500"/>
<field name="high" value="4500"/>
<field name="low_feedback" value="-0.15"/>
<field name="high_feedback" value="0.15"/>
<field name="timeout" value="1"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_AIL_RIGHT_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-4500"/>
<field name="high" value="4500"/>
<field name="low_feedback" value="-0.15"/>
<field name="high_feedback" value="0.15"/>
<field name="timeout" value="1"/>
</field>
<!-- Rotation -->
<field type="struct">
<field name="feedback_id" value="SERVO_ROTATION_MECH_IDX"/>
<field name="feedback_id2" value="SERVO_BROTATION_MECH_IDX"/>
<field name="low" value="-9600"/>
<field name="high" value="9600"/>
<field name="low_feedback" value="1.57"/>
<field name="high_feedback" value="0"/>
<field name="timeout" value="5"/>
</field>
<!-- Motors -->
<field type="struct">
<field name="feedback_id" value="SERVO_MOTOR_FRONT_IDX"/>
<field name="feedback_id2" value="SERVO_BMOTOR_FRONT_IDX"/>
<field name="low" value="-9600"/>
<field name="high" value="0"/>
<field name="low_feedback" value="0"/>
<field name="high_feedback" value="975"/>
<field name="timeout" value="3"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_MOTOR_RIGHT_IDX"/>
<field name="feedback_id2" value="SERVO_BMOTOR_RIGHT_IDX"/>
<field name="low" value="-9600"/>
<field name="high" value="0"/>
<field name="low_feedback" value="0"/>
<field name="high_feedback" value="975"/>
<field name="timeout" value="3"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_MOTOR_BACK_IDX"/>
<field name="feedback_id2" value="SERVO_BMOTOR_BACK_IDX"/>
<field name="low" value="-9600"/>
<field name="high" value="0"/>
<field name="low_feedback" value="0"/>
<field name="high_feedback" value="975"/>
<field name="timeout" value="3"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_MOTOR_LEFT_IDX"/>
<field name="feedback_id2" value="SERVO_BMOTOR_LEFT_IDX"/>
<field name="low" value="-9600"/>
<field name="high" value="0"/>
<field name="low_feedback" value="0"/>
<field name="high_feedback" value="975"/>
<field name="timeout" value="3"/>
</field>
<field type="struct">
<field name="feedback_id" value="SERVO_MOTOR_PUSH_IDX"/>
<field name="feedback_id2" value="255"/>
<field name="low" value="-9600"/>
<field name="high" value="2000"/>
<field name="low_feedback" value="0"/>
<field name="high_feedback" value="2000"/>
<field name="timeout" value="3"/>
</field>
</define>
<!-- Others -->
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
@@ -503,6 +617,7 @@
<define name="MAX_PITCH" value="12"/>
<define name="MIN_PITCH" value="-20"/>
<define name="MAX_LAT_ACCEL" value="5.0"/>
<define name="ACCEL_FWD_BX_LIM" value="3.0"/>
</section>
<section name="FORWARD">
@@ -519,6 +634,10 @@
<define name="SPEED" value="0.0"/>
</section>
<section name="TARGET_POS">
<define name="TARGET_OFFSET_DISTANCE" value="20.0"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_FORWARD"/>
@@ -554,7 +673,9 @@
<item name="tail connection">Check tail connection</item>
<item name="wing tape">Check wings taped and secured</item>
<item name="attitude">Check attitude and heading</item>
<item name="airspeed">Airspeed sensor calibration</item>
<item name="takeoff location">Put UAV on take-off location</item>
<item name="actuators">Automated actuator check</item>
<item name="flight plan">Check flight plan</item>
<item name="flight block">Switch to correct flight block</item>
<item name="camera">Switch on camera</item>