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Updated airframe

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This commit is contained in:
Eric Parsonage
2010-10-02 01:59:51 +00:00
parent d62222293b
commit 83bb7b4ed9
1 changed files with 15 additions and 14 deletions
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conf/airframes/UofAdelaide/A1000_LISA.xml
+15 -14
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@@ -3,10 +3,10 @@
<airframe name="A1000 LISA">
<servos>
<servo name="FRONT" no="0" min="1000" neutral="1500" max="2000"/>
<servo name="FRONT" no="3" min="1000" neutral="1500" max="2000"/>
<servo name="BACK" no="1" min="1000" neutral="1500" max="2000"/>
<servo name="LEFT" no="2" min="1000" neutral="1500" max="2000"/>
<servo name="RIGHT" no="3" min="1000" neutral="1500" max="2000"/>
<servo name="RIGHT" no="0" min="1000" neutral="1500" max="2000"/>
<servo name="ESC" no="4" min="1000" neutral="1000" max="2000"/>
</servos>
@@ -19,10 +19,10 @@
<command_laws>
<set servo="ESC" value="motors_on?ESC_HOVER:ESC_STOPPED"/>
<set servo="FRONT" value=" @PITCH + @YAW + (@THRUST<<5)"/>
<set servo="BACK" value="-@PITCH + @YAW + @THRUST"/>
<set servo="LEFT" value=" @ROLL - @YAW + @THRUST"/>
<set servo="RIGHT" value="-@ROLL - @YAW + @THRUST"/>
<set servo="FRONT" value=" @PITCH + @YAW - (@THRUST<<5)"/>
<set servo="BACK" value="-@PITCH + @YAW - (@THRUST<<5)"/>
<set servo="LEFT" value=" @ROLL - @YAW - (@THRUST<<5)"/>
<set servo="RIGHT" value="-@ROLL - @YAW - (@THRUST<<5)"/>
</command_laws>
<section name="IMU" prefix="IMU_">
@@ -156,14 +156,15 @@
<define name="FACE_REINJ_1" value="1024"/>
</section>
<!-- the board isnt really a lisa_l_1.1 we just cable it to suit. In order to use a straight through imu cable
we need to se the board to be lisa_l_1.0 -->
<firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.1">
<target name="ap" board="lisa_l_1.0">
<define name = "RADIO_CONTROL_MODE" value = "RADIO_CONTROL_AUX2"/>
<define name = "RADIO_CONTROL_KILL_SWITCH" value = "RADIO_CONTROL_GEAR"/>
<!-- if we want a secondary spektrum reciever we need to set the board to be
lisa_l_1.1 and rewired accordingly then set the following.
<define name = "RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value = "UART5"/>
<define name = "OVERRIDE_UART5_IRQ_HANDLER"/>
<define name = "OVERRIDE_UART5_IRQ_HANDLER"/> -->
</target>
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="actuators" type="heli"/>
@@ -173,13 +174,13 @@
</firmware>
<firmware name="lisa_l_test_progs">
<target name="test_telemetry" board="lisa_l_1.1"/>
<target name="test_baro" board="lisa_l_1.1"/>
<target name="test_spektrum" board="lisa_l_1.1"/>
<target name="test_telemetry" board="lisa_l_1.0"/>
<target name="test_baro" board="lisa_l_1.0"/>
<target name="test_spektrum" board="lisa_l_1.0"/>
</firmware>
<firmware name="lisa_passthrough">
<target name="stm_passthrough" board="lisa_l_1.1"/>
<target name="stm_passthrough" board="lisa_l_1.0"/>
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="imu" type="b2_v1.1"/>
</firmware>