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Pascal Brisset
2006-10-23 07:11:18 +00:00
parent 2697578790
commit 8835c74381
1 changed files with 6 additions and 3 deletions
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conf/airframes/microjet7.xml
+6 -3
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@@ -75,7 +75,9 @@
<define name="ESTIMATED_PHI_PI_4" value="0.9"/>
<define name="ALLOW_INVERTED" value="1"/>
<define name="360_LATERAL_CORRECTION" value="1."/>
<define name="360_LONGITUDINAL_CORRECTION" value="1."/>
<define name="360_VERTICAL_CORRECTION" value="1."/>
</section>
<section name="GYRO" prefix="GYRO_">
@@ -101,6 +103,7 @@
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/>
<define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
@@ -222,7 +225,7 @@ ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
ap.srcs += gps_ubx.c gps.c
ap.CFLAGS += -DINFRARED -DALT_KALMAN
ap.CFLAGS += -DINFRARED -DALT_KALMAN -DIR_360
ap.srcs += infrared.c estimator.c
ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
@@ -243,7 +246,7 @@ ap.srcs += bomb.c
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN -DIR_360
sim.srcs += bomb.c