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This commit is contained in:
Antoine Drouin
2008-08-08 13:34:48 +00:00
parent ac70450ea2
commit 83cfd1b86b
4 changed files with 29 additions and 8 deletions
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conf/airframes/booz2.xml
+21
View File
@@ -86,6 +86,27 @@
</section>
<section name="BOOZ_STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value=" 5000"/>
<define name="GAIN_P" value="-250"/>
<define name="GAIN_Q" value="-250"/>
<define name="GAIN_R" value="-100"/>
</section>
<section name="BOOZ_STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
<define name="SP_MAX_PHI" value="10000"/>
<define name="SP_MAX_THETA" value="10000"/>
<define name="SP_MAX_PSI" value=" 5000"/>
</section>
<section name="BOOZ_CONTROL" prefix="BOOZ_CONTROL_">
conf/autopilot/conf_booz2.makefile
+1 -1
View File
@@ -81,7 +81,7 @@ ap.ARCH = arm7tdmi
ap.TARGET = ap
ap.TARGETDIR = ap
ap.CFLAGS += -DKILL_MOTORS
#ap.CFLAGS += -DKILL_MOTORS
ap.CFLAGS += -DCONFIG=\"booz2_board.h\" -I$(BOOZ_ARCH) -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH)
ap.srcs += $(BOOZ_PRIV)/booz2_main.c
sw/airborne/booz/arm7/actuators_buss_twi_blmc_hw.c
+1 -1
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@@ -6,7 +6,7 @@ uint8_t buss_twi_blmc_nb_err;
volatile bool_t buss_twi_blmc_i2c_done;
volatile uint8_t buss_twi_blmc_idx;
const uint8_t buss_twi_blmc_addr[BUSS_TWI_BLMC_NB] = { 0x52, 0x54, 0x56, 0x58 };
const uint8_t buss_twi_blmc_addr[BUSS_TWI_BLMC_NB] = { 0x52, 0x54, 0x58, 0x56 };
void actuators_init ( void ) {
uint8_t i;
sw/airborne/booz/arm7/actuators_buss_twi_blmc_hw.h
+6 -6
View File
@@ -15,12 +15,12 @@
ActuatorsCommit(); \
}
#else
#define SetActuatorsFromCommands() { \
Actuator(SERVO_FRONT) = (uint8_t)commands[COMMAND_FRONT]; \
Actuator(SERVO_BACK) = (uint8_t)commands[COMMAND_BACK]; \
Actuator(SERVO_RIGHT) = (uint8_t)commands[COMMAND_RIGHT]; \
Actuator(SERVO_LEFT) = (uint8_t)commands[COMMAND_LEFT]; \
ActuatorsCommit(); \
#define SetActuatorsFromCommands() { \
Actuator(SERVO_FRONT) = (uint8_t)commands[COMMAND_FRONT]; \
Actuator(SERVO_BACK) = (uint8_t)commands[COMMAND_BACK]; \
Actuator(SERVO_RIGHT) = (uint8_t)commands[COMMAND_RIGHT]; \
Actuator(SERVO_LEFT) = (uint8_t)commands[COMMAND_LEFT]; \
ActuatorsCommit(); \
}
#endif /* KILL_MOTORS */
#endif /* SetActuatorsFromCommands */