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Merge branch 'master' into telemetry

Browse Source 
* master: (125 commits)
  [abi] define ABI x_SENDER_IDs in abi_sender_ids.h
  [sim] flight gear viz: daytime on all spots on the planet, not only France
  [abi] split abi messages from telemetry messages
  [fix] fix typo in actuators asctec v2
  [baro] fix baro scaling for booz and navgo
  [boards] sim pc: only USE_BARO_BOARD for nps
  [conf] move some airframes to obsolete
  [modules] add baro_sim
  [sim] remove unused sim_baro
  [apogee] fix baro mpl3115 init on apogee
  Update README for recommended gcc-arm-embedded toolchain
  [boards] stm32f4_discovery typo in description
  [boards] roughly correct BOOZ_BARO_SENS
  [modules] baro_ets: BARO_ETS_SCALE
  [modules] baro modules for real sensors only for ap target, not sim
  [conf] remove baro_board.xml module file
  [boards] update stm32f4_discovery
  [lib/ocaml] update leap_seconds
  [mission] fix segmentation fault and add generic mission FP
  [generator] generate arrays of the settings and fp blocks names
  ...

Conflicts:
	sw/airborne/firmwares/fixedwing/ap_downlink.h
	sw/airborne/firmwares/fixedwing/main_ap.c
	sw/airborne/firmwares/rotorcraft/telemetry.h
	sw/airborne/modules/sensors/baro_MS5534A.c
This commit is contained in:
Felix Ruess
2013-10-11 16:51:44 +02:00
parent 8de915bbf2 ede94e0375
commit 8ac5fd8d5b
279 changed files with 5103 additions and 3482 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Makefile
+2 -1
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@@ -82,6 +82,7 @@ SUBDIRS = $(PPRZCENTER) $(MISC) $(LOGALIZER)
# xml files used as input for header generation # xml files used as input for header generation
# #
MESSAGES_XML = $(CONF)/messages.xml MESSAGES_XML = $(CONF)/messages.xml
ABI_XML = $(CONF)/abi.xml
UBX_XML = $(CONF)/ubx.xml UBX_XML = $(CONF)/ubx.xml
MTK_XML = $(CONF)/mtk.xml MTK_XML = $(CONF)/mtk.xml
XSENS_XML = $(CONF)/xsens_MTi-G.xml XSENS_XML = $(CONF)/xsens_MTi-G.xml
@@ -218,7 +219,7 @@ $(DL_PROTOCOL2_H) : $(MESSAGES_XML) tools
$(Q)mv $($@_TMP) $@ $(Q)mv $($@_TMP) $@
$(Q)chmod a+r $@ $(Q)chmod a+r $@
$(ABI_MESSAGES_H) : $(MESSAGES_XML) tools $(ABI_MESSAGES_H) : $(ABI_XML) tools
@echo GENERATE $@ @echo GENERATE $@
$(eval $@_TMP := $(shell $(MKTEMP))) $(eval $@_TMP := $(shell $(MKTEMP)))
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_abi.out $< airborne > $($@_TMP) $(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_abi.out $< airborne > $($@_TMP)
README.md
+3 -2
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@@ -18,11 +18,12 @@ Installation is described in the wiki (http://paparazzi.enac.fr/wiki/Installatio
For Ubuntu users, required packages are available in the [paparazzi-uav PPA] (https://launchpad.net/~paparazzi-uav/+archive/ppa), For Ubuntu users, required packages are available in the [paparazzi-uav PPA] (https://launchpad.net/~paparazzi-uav/+archive/ppa),
Debian users can use http://paparazzi.enac.fr/debian Debian users can use http://paparazzi.enac.fr/debian
Debian/Ubuntu packages:
- **paparazzi-dev** is the meta-package that depends on everything needed to compile and run the ground segment and the simulator. - **paparazzi-dev** is the meta-package that depends on everything needed to compile and run the ground segment and the simulator.
- **paparazzi-arm-multilib** ARM cross-compiling toolchain for LPC21 and STM32 based boards.
- **paparazzi-jsbsim** is needed for using JSBSim as flight dynamic model for the simulator. - **paparazzi-jsbsim** is needed for using JSBSim as flight dynamic model for the simulator.
Recommended cross compiling toolchain: https://launchpad.net/gcc-arm-embedded
Directories quick and dirty description: Directories quick and dirty description:
---------------------------------------- ----------------------------------------
conf/Makefile.omap
+35
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@@ -81,6 +81,38 @@ load upload program: $(OBJDIR)/$(TARGET).elf
# Kill the application # Kill the application
-echo "killall -9 $(TARGET).elf" | telnet $(HOST) -echo "killall -9 $(TARGET).elf" | telnet $(HOST)
# Make the target dir and edit the config
-{ \
echo "mkdir -p $(TARGET_DIR)"; \
} | telnet $(HOST)
# Upload the drivers and new application
{ \
echo "binary"; \
echo "put $(PAPARAZZI_SRC)/sw/ext/ardrone2_drivers/cdc-acm.ko /$(SUB_DIR)/cdc-acm.ko"; \
echo "put $(OBJDIR)/$(TARGET).elf /$(SUB_DIR)/$(TARGET).elf"; \
echo "quit"; \
} | ftp -n $(HOST)
# Upload the modules and start the application
-{ \
echo "insmod $(TARGET_DIR)/cdc-acm.ko"; \
echo "chmod 777 $(TARGET_DIR)/$(TARGET).elf"; \
echo "$(TARGET_DIR)/$(TARGET).elf > /dev/null 2>&1 &"; \
} | telnet $(HOST)
ifeq ($(ARDRONE2_REBOOT),1)
-{ \
echo "reboot"; \
} | telnet $(HOST)
endif
# Program the device and start it.
load2 upload2 program2: $(OBJDIR)/$(TARGET).elf
# Kill the application
-echo "killall -9 $(TARGET).elf" | telnet $(HOST)
# Make the target dir and edit the config # Make the target dir and edit the config
-{ \ -{ \
echo "mkdir -p $(TARGET_DIR)"; \ echo "mkdir -p $(TARGET_DIR)"; \
@@ -119,6 +151,8 @@ ifeq ($(ARDRONE2_REBOOT),1)
endif endif
# Link: create ELF output file from object files. # Link: create ELF output file from object files.
.SECONDARY : $(OBJDIR)/$(TARGET).elf .SECONDARY : $(OBJDIR)/$(TARGET).elf
.PRECIOUS : $(OBJ_C_OMAP) $(OBJ_CPP_OMAP) .PRECIOUS : $(OBJ_C_OMAP) $(OBJ_CPP_OMAP)
@@ -140,6 +174,7 @@ $(OBJDIR)/%.o : %.cpp $(OBJDIR)/../Makefile.ac
$(Q)test -d $(dir $@) || mkdir -p $(dir $@) $(Q)test -d $(dir $@) || mkdir -p $(dir $@)
$(Q)$(CXX) -c $(CXXFLAGS) $< -o $@ $(Q)$(CXX) -c $(CXXFLAGS) $< -o $@
# Listing of phony targets. # Listing of phony targets.
.PHONY : all build elf clean clean_list .PHONY : all build elf clean clean_list
conf/abi.xml
+22
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@@ -0,0 +1,22 @@
<?xml version="1.0"?>
<!DOCTYPE protocol SYSTEM "messages.dtd">
<protocol>
<class name="airborne">
<!--message name="TEST_ABI" id="0">
<field name="value" type="int8_t"/>
<field name="boo" type="struct abi_boo"/>
<field name="vect" type="struct Int32Vect3 *"/>
</message-->
<message name="BARO_ABS" id="1">
<field name="pressure" type="float" unit="Pa"/>
</message>
<message name="BARO_DIFF" id="2">
<field name="pressure" type="float" unit="Pa"/>
</message>
</class>
</protocol>
conf/airframes/CDW/asctec_cdw.xml
-5
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@@ -124,7 +124,6 @@
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="10." integer="16"/>
</section> </section>
<!-- ************************* GAINS ************************* --> <!-- ************************* GAINS ************************* -->
@@ -182,10 +181,6 @@
<define name="HOVER_KP" value="500"/> <define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="200"/> <define name="HOVER_KD" value="200"/>
<define name="HOVER_KI" value="100"/> <define name="HOVER_KI" value="100"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value="160000"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.4"/> <define name="NOMINAL_HOVER_THROTTLE" value="0.4"/>
</section> </section>
conf/airframes/CDW/tricopter_cdw.xml
-5
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@@ -121,7 +121,6 @@ LiPo/LiIo-Zellen: 2-3
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="15." integer="16"/>
</section> </section>
<!-- ************************* GAINS ************************* --> <!-- ************************* GAINS ************************* -->
@@ -179,10 +178,6 @@ LiPo/LiIo-Zellen: 2-3
<define name="HOVER_KP" value="500"/> <define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="200"/> <define name="HOVER_KD" value="200"/>
<define name="HOVER_KI" value="100"/> <define name="HOVER_KI" value="100"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value="160000"/>
</section> </section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
conf/airframes/ENAC/fixed-wing/firestorm.xml
-1
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@@ -124,7 +124,6 @@
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="-0.0640000030398" unit="rad"/> <define name="ROLL_NEUTRAL_DEFAULT" value="-0.0640000030398" unit="rad"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0.0670000016689" unit="rad"/> <define name="PITCH_NEUTRAL_DEFAULT" value="0.0670000016689" unit="rad"/>
<define name="BARO_SENS" value="1.0"/> <!-- TODO calibration -->
</section> </section>
<section name="BAT"> <section name="BAT">
conf/airframes/ENAC/fixed-wing/funjet2.xml
-3
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@@ -15,9 +15,6 @@
<define name="LIGHT_LED_STROBE" value="5"/> <define name="LIGHT_LED_STROBE" value="5"/>
<define name="LIGHT_LED_NAV" value="3"/> <define name="LIGHT_LED_NAV" value="3"/>
</load--> </load-->
<!--load name="baro_board.xml">
<define name="BARO_ABS_EVENT" value="BaroPbnUpdate"/>
</load-->
<load name="pbn.xml"/> <load name="pbn.xml"/>
</modules> </modules>
conf/airframes/ENAC/fixed-wing/mythe.xml
-1
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@@ -9,7 +9,6 @@
<airframe name="Funjet"> <airframe name="Funjet">
<modules> <modules>
<!--load name="baro_board.xml"/-->
<load name="airspeed_adc.xml"> <load name="airspeed_adc.xml">
<configure name="ADC_AIRSPEED" value="ADC_0"/> <configure name="ADC_AIRSPEED" value="ADC_0"/>
<define name="AIRSPEED_QUADRATIC_SCALE" value="1.09378"/> <define name="AIRSPEED_QUADRATIC_SCALE" value="1.09378"/>
conf/airframes/ENAC/fixed-wing/weasel.xml
-1
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@@ -120,7 +120,6 @@
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="3." unit="deg"/> <define name="ROLL_NEUTRAL_DEFAULT" value="3." unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0." unit="deg"/> <define name="PITCH_NEUTRAL_DEFAULT" value="0." unit="deg"/>
<define name="BARO_SENS" value="1.0"/> <!-- TODO calibration -->
</section> </section>
<section name="BAT"> <section name="BAT">
conf/airframes/ENAC/quadrotor/blender.xml
-3
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@@ -142,7 +142,6 @@
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<!-- datasheet 1.4 mm/LSB : 0.0014*2^8 = 0.3584 --> <!-- datasheet 1.4 mm/LSB : 0.0014*2^8 = 0.3584 -->
<!-- calibration SENS = 1.156 :( --> <!-- calibration SENS = 1.156 :( -->
<define name="BARO_SENS" value="1.156" integer="16"/>
<define name="SONAR_SENS" value="0.0128633" integer="16"/> <define name="SONAR_SENS" value="0.0128633" integer="16"/>
<define name="SONAR_OFFSET" value="7"/> <define name="SONAR_OFFSET" value="7"/>
<define name="SONAR_MAX_RANGE" value="4.0"/> <define name="SONAR_MAX_RANGE" value="4.0"/>
@@ -225,9 +224,7 @@
<define name="HOVER_KD" value="80"/> <define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="0"/> <define name="HOVER_KI" value="0"/>
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) --> <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- SPEED_BFP_OF_REAL(1.5) * 20% --> <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="ADAPT_NOISE_FACTOR" value="1.5"/> <define name="ADAPT_NOISE_FACTOR" value="1.5"/>
</section> </section>
conf/airframes/ENAC/quadrotor/booz2_g1.xml
-3
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@@ -177,7 +177,6 @@
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="15." integer="16"/>
<!--define name="SONAR_SENS" value="0.00650498" integer="16"/--> <!-- XL-MaxSonar-EZ4 5V supply --> <!--define name="SONAR_SENS" value="0.00650498" integer="16"/--> <!-- XL-MaxSonar-EZ4 5V supply -->
<define name="SONAR_SENS" value="0.016775" integer="16"/> <!-- XL-MaxSonar-EZ4 5V supply scaled to 3.3V --> <define name="SONAR_SENS" value="0.016775" integer="16"/> <!-- XL-MaxSonar-EZ4 5V supply scaled to 3.3V -->
<define name="SONAR_MAX_RANGE" value="5.0"/> <define name="SONAR_MAX_RANGE" value="5.0"/>
@@ -199,9 +198,7 @@
<define name="HOVER_KD" value="80"/> <define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="0"/> <define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) --> <!-- 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% --> <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
</section> </section>
conf/airframes/ENAC/quadrotor/hen1.xml
-3
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@@ -127,7 +127,6 @@
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<!-- datasheet 1.4 mm/LSB : 0.0014*2^8 = 0.3584 --> <!-- datasheet 1.4 mm/LSB : 0.0014*2^8 = 0.3584 -->
<!-- calibration SENS = 1.156 :( --> <!-- calibration SENS = 1.156 :( -->
<define name="BARO_SENS" value="1.156" integer="16"/>
</section> </section>
@@ -205,9 +204,7 @@
<define name="HOVER_KD" value="80"/> <define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="0"/> <define name="HOVER_KI" value="0"/>
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) --> <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value="163"/>
<!-- SPEED_BFP_OF_REAL(1.5) * 20% --> <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value="160000"/>
<define name="ADAPT_NOISE_FACTOR" value="1.5"/> <define name="ADAPT_NOISE_FACTOR" value="1.5"/>
</section> </section>
conf/airframes/TUDelft/IMAV2013/ardrone2_raw.xml
-4
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@@ -174,10 +174,6 @@
<define name="HOVER_KP" value="283"/> <define name="HOVER_KP" value="283"/>
<define name="HOVER_KD" value="82"/> <define name="HOVER_KD" value="82"/>
<define name="HOVER_KI" value="13"/> <define name="HOVER_KI" value="13"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value="160000"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.655"/> <define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/> <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
</section> </section>
conf/airframes/TUDelft/IMAV2013/chouchou_lisa_s.xml
-5
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@@ -145,7 +145,6 @@
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="22.4" integer="16"/>
</section> </section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_"> <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
@@ -157,10 +156,6 @@
<define name="HOVER_KP" value="531"/> <define name="HOVER_KP" value="531"/>
<define name="HOVER_KD" value="356"/> <define name="HOVER_KD" value="356"/>
<define name="HOVER_KI" value="0"/> <define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value="160000"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.669"/> <define name="NOMINAL_HOVER_THROTTLE" value="0.669"/>
</section> </section>
conf/airframes/TUDelft/IMAV2013/quadrotor_lisa_s.xml
-5
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@@ -147,7 +147,6 @@
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="22.4" integer="16"/>
</section> </section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_"> <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
@@ -159,10 +158,6 @@
<define name="HOVER_KP" value="400"/> <define name="HOVER_KP" value="400"/>
<define name="HOVER_KD" value="350"/> <define name="HOVER_KD" value="350"/>
<define name="HOVER_KI" value="144"/> <define name="HOVER_KI" value="144"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value="160000"/>
<define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.9"/> <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.9"/>
</section> </section>
conf/airframes/TUDelft/IMAV2013/walkera_V120D02S.xml
-5
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@@ -129,7 +129,6 @@
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="22.4" integer="16"/>
</section> </section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_"> <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
@@ -141,10 +140,6 @@
<define name="HOVER_KP" value="281"/> <define name="HOVER_KP" value="281"/>
<define name="HOVER_KD" value="66"/> <define name="HOVER_KD" value="66"/>
<define name="HOVER_KI" value="0"/> <define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value="160000"/>
<define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.9"/> <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.9"/>
</section> </section>
conf/airframes/TUDelft/IMAV2013/walkera_genius_v1.xml
-5
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@@ -134,7 +134,6 @@
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="22.4" integer="16"/>
</section> </section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_"> <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
@@ -146,10 +145,6 @@
<define name="HOVER_KP" value="281"/> <define name="HOVER_KP" value="281"/>
<define name="HOVER_KD" value="66"/> <define name="HOVER_KD" value="66"/>
<define name="HOVER_KI" value="0"/> <define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value="160000"/>
<define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.9"/> <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.9"/>
</section> </section>
conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml
-5
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@@ -221,7 +221,6 @@
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="10." integer="16"/>
</section> </section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_"> <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
@@ -234,10 +233,6 @@
<define name="HOVER_KD" value="80"/> <define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="0"/> <define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
</section> </section>
conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
-5
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@@ -221,7 +221,6 @@
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="10." integer="16"/>
</section> </section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_"> <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
@@ -234,10 +233,6 @@
<define name="HOVER_KD" value="80"/> <define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="0"/> <define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
</section> </section>
conf/airframes/ardrone2_raw.xml
+36 -31
View File
@@ -5,7 +5,6 @@
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="ardrone2_raw"> <target name="ap" board="ardrone2_raw">
<define name="USE_INS_NAV_INIT"/> <define name="USE_INS_NAV_INIT"/>
<!--configure name="USE_NEW_I2C_DRIVER" value="1"/ -->
<configure name="AHRS_PROPAGATE_FREQUENCY" value="200"/> <configure name="AHRS_PROPAGATE_FREQUENCY" value="200"/>
<define name="AHRS_PROPAGATE_FREQUENCY" value="200"/> <define name="AHRS_PROPAGATE_FREQUENCY" value="200"/>
<define name="INS_PROPAGATE_FREQUENCY" value="200"/> <define name="INS_PROPAGATE_FREQUENCY" value="200"/>
@@ -20,15 +19,14 @@
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
</target> </target>
<!-- Subsystem section -->
<subsystem name="motor_mixing"/> <subsystem name="motor_mixing"/>
<subsystem name="actuators" type="ardrone2"/> <subsystem name="actuators" type="ardrone2"/>
<subsystem name="imu" type="ardrone2"/> <subsystem name="imu" type="ardrone2"/>
<subsystem name="gps" type="ublox"/> <subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/> <subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/> <subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins" type="extended"/> <subsystem name="ins" type="extended"/>
</firmware> </firmware>
<modules main_freq="512"> <modules main_freq="512">
@@ -39,7 +37,7 @@
<axis name="PITCH" failsafe_value="0"/> <axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/> <axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/> <axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/> <axis name="THRUST" failsafe_value="3000"/>
</commands> </commands>
<servos driver="Default"> <servos driver="Default">
@@ -55,11 +53,12 @@
<define name="TRIM_YAW" value="0"/> <define name="TRIM_YAW" value="0"/>
<define name="NB_MOTOR" value="4"/> <define name="NB_MOTOR" value="4"/>
<define name="SCALE" value="255"/> <define name="SCALE" value="255"/>
<!-- Time cross layout (X), as documented in paparazzi --> <!-- Time cross layout (X), as documented in paparazzi -->
<define name="ROLL_COEF" value="{ 256, -256, -256, 256 }"/> <define name="ROLL_COEF" value="{ 256, -256, -256, 256 }"/>
<define name="PITCH_COEF" value="{ 256, 256, -256, -256 }"/> <define name="PITCH_COEF" value="{ 256, 256, -256, -256 }"/>
<define name="YAW_COEF" value="{ -256, 256, -256, 256 }"/> <define name="YAW_COEF" value="{ -256, 256, -256, 256 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/> <define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
</section> </section>
<command_laws> <command_laws>
@@ -71,40 +70,45 @@
</command_laws> </command_laws>
<section name="IMU" prefix="IMU_"> <section name="IMU" prefix="IMU_">
<define name="ACCEL_X_NEUTRAL" value="2056"/> <!-- Accelero -->
<define name="ACCEL_Y_NEUTRAL" value="2060"/> <define name="ACCEL_X_NEUTRAL" value="2048"/>
<define name="ACCEL_Z_NEUTRAL" value="2052"/> <define name="ACCEL_Y_NEUTRAL" value="2048"/>
<define name="ACCEL_Z_NEUTRAL" value="2048"/>
<define name="MAG_X_NEUTRAL" value="99"/> <!-- Magneto calibration -->
<define name="MAG_Y_NEUTRAL" value="59"/> <define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="-65"/> <define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_X_SENS" value="14.8494072406" integer="16"/> <define name="MAG_Z_NEUTRAL" value="-180"/>
<define name="MAG_Y_SENS" value="14.4187929352" integer="16"/> <define name="MAG_X_SENS" value="16." integer="16"/>
<define name="MAG_Z_SENS" value="15.4390790318" integer="16"/> <define name="MAG_Y_SENS" value="16." integer="16"/>
<define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/> <define name="MAG_Z_SENS" value="16." integer="16"/>
<define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>
<define name="MAG_Z_CURRENT_COEF" value="0.00022802329524"/>
<!-- Magneto current calibration -->
<define name="MAG_X_CURRENT_COEF" value="0.0"/>
<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
<define name="MAG_Z_CURRENT_COEF" value="0.0"/>
</section>
<section name="IMU" prefix="IMU_">
<!-- roll -->
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/> <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<!-- pitch -->
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/> <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<!-- yaw -->
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/> <define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
</section> </section>
<!-- local magnetic field, calculated for: 52°3'56", 4°31'24" --> <!-- local magnetic field -->
<!-- http://paparazzi.enac.fr/wiki/Subsystem/ahrs#Local_Magnetic_Field --> <!-- http://paparazzi.enac.fr/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
<section name="AHRS" prefix="AHRS_"> <section name="AHRS" prefix="AHRS_">
<define name="H_X" value="0.3892503"/> <!-- Toulouse -->
<define name="H_X" value="0.513081"/>
<define name="H_Y" value="-0.00242783"/>
<define name="H_Z" value="0.858336"/>
<!-- Delft -->
<!--define name="H_X" value="0.3892503"/>
<define name="H_Y" value="0.0017972"/> <define name="H_Y" value="0.0017972"/>
<define name="H_Z" value="0.9211303"/> <define name="H_Z" value="0.9211303"/ -->
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="22.4" integer="16"/>
</section> </section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_"> <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
@@ -132,7 +136,6 @@
<define name="DDGAIN_R" value="300"/> <define name="DDGAIN_R" value="300"/>
</section> </section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_"> <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints --> <!-- setpoints -->
<define name="SP_MAX_PHI" value="45" unit="deg"/> <define name="SP_MAX_PHI" value="45" unit="deg"/>
@@ -195,10 +198,13 @@
</section> </section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<!-- Good weather -->
<define name="MAX_BANK" value="20" unit="deg"/> <define name="MAX_BANK" value="20" unit="deg"/>
<!-- Bad weather -->
<!-- define name="MAX_BANK" value="32" unit="deg"/ -->
<define name="PGAIN" value="79"/> <define name="PGAIN" value="79"/>
<define name="DGAIN" value="100"/> <define name="DGAIN" value="100"/>
<define name="IGAIN" value="26"/> <define name="IGAIN" value="60"/>
</section> </section>
<section name="SIMULATOR" prefix="NPS_"> <section name="SIMULATOR" prefix="NPS_">
@@ -221,5 +227,4 @@
<define name="LOW_BAT_LEVEL" value="9.7" unit="V"/> <define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/> <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
</section> </section>
</airframe> </airframe>
conf/airframes/ardrone2_sdk.xml
-4
View File
@@ -81,10 +81,6 @@
<define name="HOVER_KP" value="425" /> <define name="HOVER_KP" value="425" />
<define name="HOVER_KD" value="200" /> <define name="HOVER_KD" value="200" />
<define name="HOVER_KI" value="125" /> <define name="HOVER_KI" value="125" />
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value="163" />
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value="160000" />
<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/> <define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/> <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
</section> </section>
conf/airframes/esden/cocto_lm2a2.xml
-5
View File
@@ -170,7 +170,6 @@ B2L -> CW
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="22.4" integer="16"/>
</section> </section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_"> <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
@@ -182,10 +181,6 @@ B2L -> CW
<define name="HOVER_KP" value="400"/> <define name="HOVER_KP" value="400"/>
<define name="HOVER_KD" value="350"/> <define name="HOVER_KD" value="350"/>
<define name="HOVER_KI" value="144"/> <define name="HOVER_KI" value="144"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/> <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/>
</section> </section>
conf/airframes/esden/gain_scheduling_example.xml
-3
View File
@@ -153,7 +153,6 @@
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="22.4" integer="16"/>
</section> </section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_"> <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
@@ -165,8 +164,6 @@
<define name="HOVER_KP" value="200"/> <define name="HOVER_KP" value="200"/>
<define name="HOVER_KD" value="175"/> <define name="HOVER_KD" value="175"/>
<define name="HOVER_KI" value="72"/> <define name="HOVER_KI" value="72"/>
<define name="RC_CLIMB_COEF" value ="163"/>
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/> <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/>
</section> </section>
conf/airframes/esden/hexy_ll11a2pwm.xml
-5
View File
@@ -167,7 +167,6 @@
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="10." integer="16"/>
</section> </section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_"> <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
@@ -179,10 +178,6 @@
<define name="HOVER_KP" value="830"/> <define name="HOVER_KP" value="830"/>
<define name="HOVER_KD" value="650"/> <define name="HOVER_KD" value="650"/>
<define name="HOVER_KI" value="100"/> <define name="HOVER_KI" value="100"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<!--define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/--> <!--define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/-->
</section> </section>
conf/airframes/esden/hexy_lm2a2pwm.xml
-5
View File
@@ -128,7 +128,6 @@
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="10." integer="16"/>
</section> </section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_"> <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
@@ -140,10 +139,6 @@
<define name="HOVER_KP" value="830"/> <define name="HOVER_KP" value="830"/>
<define name="HOVER_KD" value="650"/> <define name="HOVER_KD" value="650"/>
<define name="HOVER_KI" value="100"/> <define name="HOVER_KI" value="100"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<!--define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/--> <!--define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/-->
</section> </section>
conf/airframes/esden/lisa2_hex.xml
-5
View File
@@ -135,7 +135,6 @@
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="10." integer="16"/>
</section> </section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_"> <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
@@ -147,10 +146,6 @@
<define name="HOVER_KP" value="830"/> <define name="HOVER_KP" value="830"/>
<define name="HOVER_KD" value="650"/> <define name="HOVER_KD" value="650"/>
<define name="HOVER_KI" value="100"/> <define name="HOVER_KI" value="100"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<!--define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/--> <!--define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/-->
</section> </section>
conf/airframes/esden/qs_asp22.xml
-3
View File
@@ -161,7 +161,6 @@
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="22.4" integer="16"/>
</section> </section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_"> <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
@@ -173,8 +172,6 @@
<define name="HOVER_KP" value="200"/> <define name="HOVER_KP" value="200"/>
<define name="HOVER_KD" value="175"/> <define name="HOVER_KD" value="175"/>
<define name="HOVER_KI" value="72"/> <define name="HOVER_KI" value="72"/>
<define name="RC_CLIMB_COEF" value ="163"/>
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<!-- <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.3"/> --> <!-- <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.3"/> -->
</section> </section>
conf/airframes/esden/quady_ll11a2pwm.xml
-5
View File
@@ -163,7 +163,6 @@
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="10." integer="16"/>
</section> </section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_"> <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
@@ -175,10 +174,6 @@
<define name="HOVER_KP" value="830"/> <define name="HOVER_KP" value="830"/>
<define name="HOVER_KD" value="650"/> <define name="HOVER_KD" value="650"/>
<define name="HOVER_KI" value="100"/> <define name="HOVER_KI" value="100"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<!--define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/--> <!--define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/-->
</section> </section>
conf/airframes/esden/quady_lm1a1pwm.xml
-5
View File
@@ -124,7 +124,6 @@
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="22.4" integer="16"/>
</section> </section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_"> <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
@@ -136,10 +135,6 @@
<define name="HOVER_KP" value="400"/> <define name="HOVER_KP" value="400"/>
<define name="HOVER_KD" value="350"/> <define name="HOVER_KD" value="350"/>
<define name="HOVER_KI" value="144"/> <define name="HOVER_KI" value="144"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/> <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/>
</section> </section>
conf/airframes/esden/quady_lm2a2pwm.xml
-5
View File
@@ -127,7 +127,6 @@
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="22.4" integer="16"/>
</section> </section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_"> <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
@@ -139,10 +138,6 @@
<define name="HOVER_KP" value="400"/> <define name="HOVER_KP" value="400"/>
<define name="HOVER_KD" value="350"/> <define name="HOVER_KD" value="350"/>
<define name="HOVER_KI" value="144"/> <define name="HOVER_KI" value="144"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/> <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/>
</section> </section>
conf/airframes/esden/quady_lm2a2pwmppm.xml
-5
View File
@@ -124,7 +124,6 @@
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="22.4" integer="16"/>
</section> </section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_"> <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
@@ -136,10 +135,6 @@
<define name="HOVER_KP" value="400"/> <define name="HOVER_KP" value="400"/>
<define name="HOVER_KD" value="350"/> <define name="HOVER_KD" value="350"/>
<define name="HOVER_KI" value="144"/> <define name="HOVER_KI" value="144"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/> <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/>
</section> </section>
conf/airframes/esden/quady_ls01pwm.xml
-5
View File
@@ -127,7 +127,6 @@
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="22.4" integer="16"/>
</section> </section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_"> <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
@@ -139,10 +138,6 @@
<define name="HOVER_KP" value="400"/> <define name="HOVER_KP" value="400"/>
<define name="HOVER_KD" value="350"/> <define name="HOVER_KD" value="350"/>
<define name="HOVER_KI" value="144"/> <define name="HOVER_KI" value="144"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/> <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/>
</section> </section>
conf/airframes/examples/Twinstar_energyadaptive.xml
+6 -6
View File
@@ -12,7 +12,6 @@ twog_1.0 + aspirin + ETS baro + ETS speed
<airframe name="Tob_energyadaptive"> <airframe name="Tob_energyadaptive">
<firmware name="fixedwing"> <firmware name="fixedwing">
<target name="sim" board="pc"/>
<target name="ap" board="twog_1.0"> <target name="ap" board="twog_1.0">
<configure name="PERIODIC_FREQUENCY" value="120"/> <configure name="PERIODIC_FREQUENCY" value="120"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/> <configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
@@ -22,6 +21,9 @@ twog_1.0 + aspirin + ETS baro + ETS speed
<define name="USE_I2C0"/> <define name="USE_I2C0"/>
<define name="USE_BARO_ETS"/> <define name="USE_BARO_ETS"/>
</target> </target>
<target name="sim" board="pc">
<define name="INS_BARO_ID" value="BARO_SIM_SENDER_ID"/>
</target>
<define name="USE_AIRSPEED"/> <define name="USE_AIRSPEED"/>
<define name="USE_BAROMETER"/> <define name="USE_BAROMETER"/>
@@ -50,12 +52,11 @@ twog_1.0 + aspirin + ETS baro + ETS speed
<!-- <define name="AIRSPEED_ETS_I2C_DEV" value="i2c1"/> --> <!-- <define name="AIRSPEED_ETS_I2C_DEV" value="i2c1"/> -->
</load> </load>
<load name="baro_ets.xml"> <load name="baro_ets.xml">
<define name="BARO_ETS_SCALE" value="0.3"/> <define name="BARO_ETS_SCALE" value="40.0"/>
<define name="BARO_ETS_ALT_SCALE" value="0.3"/>
<define name="BARO_ETS_SYNC_SEND"/> <define name="BARO_ETS_SYNC_SEND"/>
</load> </load>
<load name="baro_board.xml"> <load name="baro_sim.xml"/>
<define name="BARO_ABS_EVENT" value="BaroEtsUpdate"/>
</load>
<load name="digital_cam.xml"> <load name="digital_cam.xml">
<define name="DC_SHUTTER_LED" value="5"/><!-- led4:aux led5:camsw--> <define name="DC_SHUTTER_LED" value="5"/><!-- led4:aux led5:camsw-->
</load> </load>
@@ -124,7 +125,6 @@ twog_1.0 + aspirin + ETS baro + ETS speed
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="0.3"/>
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/> <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/> <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
</section> </section>
conf/airframes/examples/booz2.xml
-5
View File
@@ -148,7 +148,6 @@
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="15." integer="16"/>
</section> </section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_"> <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
@@ -160,10 +159,6 @@
<define name="HOVER_KP" value="500"/> <define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="200"/> <define name="HOVER_KD" value="200"/>
<define name="HOVER_KI" value="100"/> <define name="HOVER_KI" value="100"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
</section> </section>
conf/airframes/examples/easystar_ets.xml
-4
View File
@@ -19,7 +19,6 @@
<define name="USE_I2C0"/> <define name="USE_I2C0"/>
<define name="USE_AIRSPEED"/> <define name="USE_AIRSPEED"/>
<define name="USE_BARO_ETS"/> <define name="USE_BARO_ETS"/>
<define name="INS_BARO_SENS" value="0.32"/>
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/> <subsystem name="telemetry" type="transparent"/>
@@ -37,9 +36,6 @@
<modules> <modules>
<load name="airspeed_ets.xml"/> <load name="airspeed_ets.xml"/>
<load name="baro_ets.xml"/> <load name="baro_ets.xml"/>
<load name="baro_board.xml">
<define name="BARO_ABS_EVENT" value="BaroEtsUpdate"/>
</load>
<load name="infrared_adc.xml"/> <load name="infrared_adc.xml"/>
</modules> </modules>
conf/airframes/examples/h_hex.xml
-5
View File
@@ -147,7 +147,6 @@
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="15." integer="16"/>
</section> </section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_"> <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
@@ -159,10 +158,6 @@
<define name="HOVER_KP" value="500"/> <define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="200"/> <define name="HOVER_KD" value="200"/>
<define name="HOVER_KI" value="100"/> <define name="HOVER_KI" value="100"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.4"/> <define name="NOMINAL_HOVER_THROTTLE" value="0.4"/>
</section> </section>
conf/airframes/examples/krooz_sd/krooz_sd_hexa_mkk.xml
+1 -4
View File
@@ -112,14 +112,13 @@
<section name="AHRS" prefix="AHRS_"> <section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_LOW_PASS_RATES" value="1"/> <define name="PROPAGATE_LOW_PASS_RATES" value="1"/>
<define name="GRAVITY_UPDATE_NORM_HEURISTIC" value="1"/> <define name="GRAVITY_HEURISTIC_FACTOR" value="30"/>
<define name="H_X" value="0.3586845"/> <define name="H_X" value="0.3586845"/>
<define name="H_Y" value="0.0168651"/> <define name="H_Y" value="0.0168651"/>
<define name="H_Z" value="0.933303"/> <define name="H_Z" value="0.933303"/>
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="22." integer="16"/>
</section> </section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_"> <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
@@ -206,9 +205,7 @@
<define name="HOVER_KP" value="120"/> <define name="HOVER_KP" value="120"/>
<define name="HOVER_KD" value="80"/> <define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/> <define name="HOVER_KI" value="20"/>
<define name="RC_CLIMB_COEF" value ="500"/>
<define name="RC_DESCENT_COEF" value ="200"/> <define name="RC_DESCENT_COEF" value ="200"/>
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
</section> </section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
conf/airframes/examples/krooz_sd/krooz_sd_okto_mkk.xml
+1 -4
View File
@@ -115,14 +115,13 @@
<section name="AHRS" prefix="AHRS_"> <section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_LOW_PASS_RATES" value="1"/> <define name="PROPAGATE_LOW_PASS_RATES" value="1"/>
<define name="GRAVITY_UPDATE_NORM_HEURISTIC" value="1"/> <define name="GRAVITY_HEURISTIC_FACTOR" value="30"/>
<define name="H_X" value="0.3586845"/> <define name="H_X" value="0.3586845"/>
<define name="H_Y" value="0.0168651"/> <define name="H_Y" value="0.0168651"/>
<define name="H_Z" value="0.933303"/> <define name="H_Z" value="0.933303"/>
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="22." integer="16"/>
</section> </section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_"> <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
@@ -209,9 +208,7 @@
<define name="HOVER_KP" value="120"/> <define name="HOVER_KP" value="120"/>
<define name="HOVER_KD" value="80"/> <define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/> <define name="HOVER_KI" value="20"/>
<define name="RC_CLIMB_COEF" value ="500"/>
<define name="RC_DESCENT_COEF" value ="200"/> <define name="RC_DESCENT_COEF" value ="200"/>
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
</section> </section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
conf/airframes/examples/krooz_sd/krooz_sd_quad_mkk.xml
+31 -36
View File
@@ -24,8 +24,6 @@
<subsystem name="motor_mixing"/> <subsystem name="motor_mixing"/>
<define name="NO_RC_THRUST_LIMIT"/> <define name="NO_RC_THRUST_LIMIT"/>
<define name="USE_RC_FP_BLOCK_SWITCHING"/>
<define name="USE_ATTITUDE_REF" value="0"/>
</firmware> </firmware>
<modules main_freq="512"> <modules main_freq="512">
@@ -105,14 +103,14 @@
<section name="AHRS" prefix="AHRS_"> <section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_LOW_PASS_RATES" value="1"/> <define name="PROPAGATE_LOW_PASS_RATES" value="1"/>
<define name="GRAVITY_UPDATE_NORM_HEURISTIC" value="1"/> <define name="GRAVITY_HEURISTIC_FACTOR" value="30"/>
<define name="MAG_CORRECT_FREQUENCY" value="75"/>
<define name="H_X" value="0.3586845"/> <define name="H_X" value="0.3586845"/>
<define name="H_Y" value="0.0168651"/> <define name="H_Y" value="0.0168651"/>
<define name="H_Z" value="0.933303"/> <define name="H_Z" value="0.933303"/>
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="22." integer="16"/>
</section> </section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_"> <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
@@ -145,35 +143,35 @@
<!-- setpoints --> <!-- setpoints -->
<define name="SP_MAX_PHI" value="45." unit="deg"/> <define name="SP_MAX_PHI" value="45." unit="deg"/>
<define name="SP_MAX_THETA" value="45." unit="deg"/> <define name="SP_MAX_THETA" value="45." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/> <define name="SP_MAX_R" value="50." unit="deg/s"/>
<define name="DEADBAND_A" value="0"/> <define name="DEADBAND_A" value="0"/>
<define name="DEADBAND_E" value="0"/> <define name="DEADBAND_E" value="0"/>
<define name="DEADBAND_R" value="250"/> <define name="DEADBAND_R" value="250"/>
<!-- reference --> <!-- reference -->
<define name="REF_OMEGA_P" value="800" unit="deg/s"/> <define name="REF_OMEGA_P" value="450" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/> <define name="REF_ZETA_P" value="0.87"/>
<define name="REF_MAX_P" value="400." unit="deg/s"/> <define name="REF_MAX_P" value="180." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/> <define name="REF_MAX_PDOT" value="RadOfDeg(400.)"/>
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/> <define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/> <define name="REF_ZETA_Q" value="0.87"/>
<define name="REF_MAX_Q" value="400." unit="deg/s"/> <define name="REF_MAX_Q" value="180." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/> <define name="REF_MAX_QDOT" value="RadOfDeg(400.)"/>
<define name="REF_OMEGA_R" value="500" unit="deg/s"/> <define name="REF_OMEGA_R" value="400" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/> <define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="90." unit="deg/s"/> <define name="REF_MAX_R" value="70." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(180.)"/> <define name="REF_MAX_RDOT" value="RadOfDeg(360.)"/>
<!-- feedback --> <!-- feedback -->
<define name="PHI_PGAIN" value="850"/> <define name="PHI_PGAIN" value="1700"/>
<define name="PHI_DGAIN" value="400"/> <define name="PHI_DGAIN" value="500"/>
<define name="PHI_IGAIN" value="100"/> <define name="PHI_IGAIN" value="250"/>
<define name="THETA_PGAIN" value="850"/> <define name="THETA_PGAIN" value="1700"/>
<define name="THETA_DGAIN" value="400"/> <define name="THETA_DGAIN" value="500"/>
<define name="THETA_IGAIN" value="100"/> <define name="THETA_IGAIN" value="250"/>
<define name="PSI_PGAIN" value="4000"/> <define name="PSI_PGAIN" value="4000"/>
<define name="PSI_DGAIN" value="1500"/> <define name="PSI_DGAIN" value="1500"/>
@@ -182,7 +180,7 @@
<!-- feedforward --> <!-- feedforward -->
<define name="PHI_DDGAIN" value="300"/> <define name="PHI_DDGAIN" value="300"/>
<define name="THETA_DDGAIN" value="300"/> <define name="THETA_DDGAIN" value="300"/>
<define name="PSI_DDGAIN" value="2000"/> <define name="PSI_DDGAIN" value="5000"/>
</section> </section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_"> <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
@@ -191,16 +189,14 @@
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/> <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_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="MAX_SUM_ERR" value="2000000"/> <define name="MAX_SUM_ERR" value="2000000"/>
<define name="REF_MIN_ZDD" value="-0.2*9.81"/> <!-- max descent acceleration --> <define name="REF_MIN_ZDD" value="-2.5"/> <!-- max climb acceleration -->
<define name="REF_MAX_ZDD" value="0.2*9.81"/> <!-- max climb acceleration --> <define name="REF_MAX_ZDD" value=" 2.5"/> <!-- max descent acceleration -->
<define name="REF_MIN_ZD" value="-3."/> <!-- max descent speed --> <define name="REF_MIN_ZD" value="-3."/> <!-- max climb speed -->
<define name="REF_MAX_ZD" value="3."/> <!-- max climb speed --> <define name="REF_MAX_ZD" value="3."/> <!-- max descent speed -->
<define name="HOVER_KP" value="120"/> <define name="ADAPT_INITIAL_HOVER_THROTTLE" value="0.35"/> <!-- initial takeoff throttle value -->
<define name="HOVER_KD" value="80"/> <define name="HOVER_KP" value="130"/>
<define name="HOVER_KD" value="120"/>
<define name="HOVER_KI" value="20"/> <define name="HOVER_KI" value="20"/>
<define name="RC_CLIMB_COEF" value ="500"/>
<define name="RC_DESCENT_COEF" value ="200"/>
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
</section> </section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
@@ -209,9 +205,8 @@
<define name="MAX_BANK" value="27" unit="deg"/> <define name="MAX_BANK" value="27" unit="deg"/>
<define name="REF_MAX_ACCEL" value="7."/> <!-- max reference horizontal acceleration in m/s2 --> <define name="REF_MAX_ACCEL" value="7."/> <!-- max reference horizontal acceleration in m/s2 -->
<define name="REF_MAX_SPEED" value="2."/> <!-- max reference horizontal speed in m/s --> <define name="REF_MAX_SPEED" value="2."/> <!-- max reference horizontal speed in m/s -->
<define name="RC_SPEED_DEAD_BAND" value="200000"/>
<define name="PGAIN" value="100"/> <define name="PGAIN" value="100"/>
<define name="DGAIN" value="120"/> <define name="DGAIN" value="220"/>
<define name="IGAIN" value="10"/> <define name="IGAIN" value="10"/>
<define name="AGAIN" value="10"/> <define name="AGAIN" value="10"/>
</section> </section>
@@ -229,8 +224,8 @@
</section> </section>
<section name="BAT"> <section name="BAT">
<define name="CRITIC_BAT_LEVEL" value="13.0" unit="V"/> <define name="CRITIC_BAT_LEVEL" value="14.0" unit="V"/>
<define name="LOW_BAT_LEVEL" value="13.2" unit="V"/> <define name="LOW_BAT_LEVEL" value="14.2" unit="V"/>
<define name="MAX_BAT_LEVEL" value="16.8" unit="V"/> <define name="MAX_BAT_LEVEL" value="16.8" unit="V"/>
</section> </section>
conf/airframes/examples/krooz_sd/krooz_sd_quad_pwm.xml
+1 -4
View File
@@ -101,14 +101,13 @@
<section name="AHRS" prefix="AHRS_"> <section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_LOW_PASS_RATES" value="1"/> <define name="PROPAGATE_LOW_PASS_RATES" value="1"/>
<define name="GRAVITY_UPDATE_NORM_HEURISTIC" value="1"/> <define name="GRAVITY_HEURISTIC_FACTOR" value="30"/>
<define name="H_X" value="0.365258"/> <define name="H_X" value="0.365258"/>
<define name="H_Y" value="0.015505"/> <define name="H_Y" value="0.015505"/>
<define name="H_Z" value="0.930777"/> <define name="H_Z" value="0.930777"/>
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="22." integer="16"/>
</section> </section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_"> <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
@@ -194,9 +193,7 @@
<define name="HOVER_KP" value="120"/> <define name="HOVER_KP" value="120"/>
<define name="HOVER_KD" value="80"/> <define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/> <define name="HOVER_KI" value="20"/>
<define name="RC_CLIMB_COEF" value ="500"/>
<define name="RC_DESCENT_COEF" value ="200"/> <define name="RC_DESCENT_COEF" value ="200"/>
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
</section> </section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
conf/airframes/examples/lisa_asctec.xml
-5
View File
@@ -146,7 +146,6 @@
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="10." integer="16"/>
</section> </section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_"> <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
@@ -158,10 +157,6 @@
<define name="HOVER_KP" value="500"/> <define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="200"/> <define name="HOVER_KD" value="200"/>
<define name="HOVER_KI" value="100"/> <define name="HOVER_KI" value="100"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.4"/> <define name="NOMINAL_HOVER_THROTTLE" value="0.4"/>
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/> <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
</section> </section>
conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
+2 -6
View File
@@ -35,7 +35,7 @@
<subsystem name="gps" type="ublox"/> <subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/> <subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"> <subsystem name="ahrs" type="int_cmpl_quat">
<define name="AHRS_GRAVITY_UPDATE_NORM_HEURISTIC" value="TRUE"/> <define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="30"/>
</subsystem> </subsystem>
<subsystem name="ins"/> <subsystem name="ins"/>
@@ -102,7 +102,6 @@
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="22.3" integer="16"/>
</section> </section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_"> <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
@@ -184,16 +183,13 @@
<define name="HOVER_KP" value="150"/> <define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/> <define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/> <define name="HOVER_KI" value="20"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/> <define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/> <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section> </section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="20" unit="deg"/> <define name="MAX_BANK" value="20" unit="deg"/>
<define name="USE_SPEED_REF" value="TRUE"/>
<define name="PGAIN" value="50"/> <define name="PGAIN" value="50"/>
<define name="DGAIN" value="100"/> <define name="DGAIN" value="100"/>
<define name="AGAIN" value="100"/> <define name="AGAIN" value="100"/>
conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum_geo_mag.xml
-5
View File
@@ -104,7 +104,6 @@
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="22.3" integer="16"/>
</section> </section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_"> <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
@@ -187,10 +186,6 @@
<define name="HOVER_KP" value="150"/> <define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/> <define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/> <define name="HOVER_KI" value="20"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<!-- NOMINAL_HOVER_THROTTLE sets a fixed value instead of the adaptive estimation --> <!-- NOMINAL_HOVER_THROTTLE sets a fixed value instead of the adaptive estimation -->
<!--define name="NOMINAL_HOVER_THROTTLE" value="0.5"/--> <!--define name="NOMINAL_HOVER_THROTTLE" value="0.5"/-->
</section> </section>
conf/airframes/examples/quadrotor_lisa_m_mkk.xml
-5
View File
@@ -94,7 +94,6 @@
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="22.3" integer="16"/>
</section> </section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_"> <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
@@ -176,10 +175,6 @@
<define name="HOVER_KP" value="150"/> <define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/> <define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/> <define name="HOVER_KI" value="20"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/> <define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/> <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section> </section>
conf/airframes/examples/quadrotor_lisa_s.xml
-5
View File
@@ -147,7 +147,6 @@
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="22.4" integer="16"/>
</section> </section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_"> <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
@@ -159,10 +158,6 @@
<define name="HOVER_KP" value="276"/> <define name="HOVER_KP" value="276"/>
<define name="HOVER_KD" value="455"/> <define name="HOVER_KD" value="455"/>
<define name="HOVER_KI" value="100"/> <define name="HOVER_KI" value="100"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value="160000"/>
<define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.9"/> <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.9"/>
</section> </section>
conf/airframes/examples/quadrotor_mlkf.xml
+1 -8
View File
@@ -27,9 +27,7 @@
<subsystem name="imu" type="aspirin_v2.1"/> <subsystem name="imu" type="aspirin_v2.1"/>
<subsystem name="gps" type="ublox"/> <subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="float_quat"/> <subsystem name="stabilization" type="float_quat"/>
<subsystem name="ahrs" type="float_mlkf"> <subsystem name="ahrs" type="float_mlkf"/>
<define name="AHRS_GRAVITY_UPDATE_NORM_HEURISTIC" value="TRUE"/>
</subsystem>
<subsystem name="ins"/> <subsystem name="ins"/>
</firmware> </firmware>
@@ -100,7 +98,6 @@
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="22.3" integer="16"/>
</section> </section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_"> <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
@@ -186,10 +183,6 @@
<define name="HOVER_KP" value="150"/> <define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/> <define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/> <define name="HOVER_KI" value="20"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/> <define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/> <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section> </section>
conf/airframes/examples/quadrotor_navgo.xml
+2 -4
View File
@@ -36,6 +36,8 @@
<subsystem name="stabilization" type="int_euler"/> <subsystem name="stabilization" type="int_euler"/>
<subsystem name="ahrs" type="int_cmpl_quat"/> <subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins" type="hff"/> <subsystem name="ins" type="hff"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="512"/>
</firmware> </firmware>
<section name="MIXING" prefix="MOTOR_MIXING_"> <section name="MIXING" prefix="MOTOR_MIXING_">
@@ -117,7 +119,6 @@
<!-- Magnetic field for Toulouse (declination -16°) --> <!-- Magnetic field for Toulouse (declination -16°) -->
<section name="AHRS" prefix="AHRS_"> <section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="PROPAGATE_LOW_PASS_RATES" value="1"/> <define name="PROPAGATE_LOW_PASS_RATES" value="1"/>
<define name="H_X" value=" 0.513081"/> <define name="H_X" value=" 0.513081"/>
<define name="H_Y" value="-0.00242783"/> <define name="H_Y" value="-0.00242783"/>
@@ -127,7 +128,6 @@
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<!-- datasheet 1.4 mm/LSB : 0.0014*2^8 = 0.3584 --> <!-- datasheet 1.4 mm/LSB : 0.0014*2^8 = 0.3584 -->
<!-- calibration SENS = 1.156 :( --> <!-- calibration SENS = 1.156 :( -->
<define name="BARO_SENS" value="1.156" integer="16"/>
<define name="SONAR_SENS" value="0.0128633" integer="16"/> <define name="SONAR_SENS" value="0.0128633" integer="16"/>
<define name="SONAR_OFFSET" value="7"/> <define name="SONAR_OFFSET" value="7"/>
<define name="SONAR_MAX_RANGE" value="4.0"/> <define name="SONAR_MAX_RANGE" value="4.0"/>
@@ -208,9 +208,7 @@
<define name="HOVER_KD" value="80"/> <define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="0"/> <define name="HOVER_KI" value="0"/>
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) --> <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- SPEED_BFP_OF_REAL(1.5) * 20% --> <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="ADAPT_NOISE_FACTOR" value="1.5"/> <define name="ADAPT_NOISE_FACTOR" value="1.5"/>
</section> </section>
conf/airframes/examples/quadrotor_px4fmu.xml
-5
View File
@@ -98,7 +98,6 @@
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="22.3" integer="16"/>
</section> </section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_"> <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
@@ -180,10 +179,6 @@
<define name="HOVER_KP" value="150"/> <define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/> <define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/> <define name="HOVER_KI" value="20"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<!-- NOMINAL_HOVER_THROTTLE sets a fixed value instead of the adaptive estimation --> <!-- NOMINAL_HOVER_THROTTLE sets a fixed value instead of the adaptive estimation -->
<!--define name="NOMINAL_HOVER_THROTTLE" value="0.5"/--> <!--define name="NOMINAL_HOVER_THROTTLE" value="0.5"/-->
</section> </section>
conf/airframes/examples/quadshot_asp21_spektrum.xml
-3
View File
@@ -184,7 +184,6 @@ More information on the Quadshot can be found at transition-robotics.com -->
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="22.4" integer="16"/>
</section> </section>
<!-- Gains for vertical navigation --> <!-- Gains for vertical navigation -->
@@ -197,8 +196,6 @@ More information on the Quadshot can be found at transition-robotics.com -->
<define name="HOVER_KP" value="200"/> <define name="HOVER_KP" value="200"/>
<define name="HOVER_KD" value="175"/> <define name="HOVER_KD" value="175"/>
<define name="HOVER_KI" value="72"/> <define name="HOVER_KI" value="72"/>
<define name="RC_CLIMB_COEF" value ="163"/>
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="NOMINAL_HOVER_THROTTLE" value ="0.4"/> <define name="NOMINAL_HOVER_THROTTLE" value ="0.4"/>
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/> <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
</section> </section>

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