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settings and airframe update for ball drop

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This commit is contained in:
Felix Ruess
2009-09-12 11:56:32 +00:00
parent 49c6120dbc
commit 89c543c167
3 changed files with 31 additions and 12 deletions
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conf/airframes/booz2_flixr.xml
+15 -10
View File
@@ -144,9 +144,9 @@
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)" />
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)" />
<define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="-200" />
<define name="HOVER_KD" value="-100" />
<define name="HOVER_KI" value="-100"/>
<define name="HOVER_KP" value="-100"/>
<define name="HOVER_KD" value="-60"/>
<define name="HOVER_KI" value="-10"/>
<!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value="163" />
<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
@@ -155,9 +155,9 @@
<section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
<define name="PGAIN" value="-100" />
<define name="DGAIN" value="-100" />
<define name="IGAIN" value="-0" />
<define name="PGAIN" value="-70"/>
<define name="DGAIN" value="-150"/>
<define name="IGAIN" value="-15"/>
</section>
<section name="BAT">
@@ -168,7 +168,8 @@
</section>
<section name="MISC">
<define name="BOOZ2_FACE_REINJ_1" value="1024" />
<define name="BOOZ2_FACE_REINJ_1" value="1024"/>
<define name="BOOZ_ANALOG_BARO_THRESHOLD" value="512"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
@@ -194,11 +195,10 @@
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
include $(CFG_BOOZ)/booz2_autopilot.makefile
include $(CFG_BOOZ)/booz2_test_progs.makefile
ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
include $(CFG_BOOZ)/booz2_simulator_nps.makefile
ap.CFLAGS += -DMODEM_BAUD=B57600
ap.CFLAGS += -DMODEM_BAUD=B9600
include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1.makefile
@@ -208,9 +208,14 @@
include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
#set GPS lag for horizontal filter
ap.CFLAGS += -DGPS_LAG=0.8 -DUSE_GPS_ACC4R
ap.CFLAGS += -DUSE_GPS_ACC4R
#ap.CFLAGS += -DGPS_LAG=0.5
#ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=2
ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c $(SRC_BOOZ)/booz_drop.c
ap.CFLAGS += -DUSE_DROP
</makefile>
</airframe>
conf/settings/settings_booz_drop.xml
+14
View File
@@ -0,0 +1,14 @@
<!DOCTYPE settings SYSTEM "settings.dtd">
<settings>
<dl_settings>
<dl_settings NAME="Drop">
<dl_setting var="booz_drop_ball" min="0" step="1" max="1" module="booz_drop" values="Closed|Open">
<strip_button name="OPEN" value="1"/>
<strip_button name="CLOSE" value="0"/>
</dl_setting>
</dl_settings>
</dl_settings>
</settings>
conf/telemetry/telemetry_booz2_flixr.xml
+2 -2
View File
@@ -83,14 +83,14 @@
<mode name="h_loop">
<message name="ALIVE" period="0.9"/>
<message name="BOOZ2_HOVER_LOOP" period="0.062"/>
<message name="BOOZ2_HOVER_LOOP" period="0.1"/>
<message name="BOOZ2_STAB_ATTITUDE" period=".4"/>
<message name="BOOZ2_HFF_DBG" period=".2"/>
<!--<message name="BOOZ2_STAB_ATTITUDE_REF" period=".4"/>-->
<message name="BOOZ2_FP" period="0.8"/>
<message name="BOOZ_STATUS" period="1.2"/>
<message name="BOOZ2_NAV_STATUS" period="1.6"/>
<message name="BOOZ2_HFF_GPS" period=".05"/>
<message name="BOOZ2_HFF_GPS" period=".1"/>
<message name="BOOZ2_INS_REF" period="5.1"/>
</mode>