Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-24 22:05:58 +08:00
Code Issues Actions 28 Packages Projects Releases Wiki Activity

tuning

Browse Source
This commit is contained in:
Pascal Brisset
2007-07-19 20:13:06 +00:00
parent 3a15256e41
commit 8ff473e44f
1 changed files with 15 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/minimag1.xml
+15 -10
View File
@@ -60,8 +60,8 @@
</section>
<section name="INFRARED" prefix="IR_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="ROLL_NEUTRAL_DEFAULT" value="-6" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="12" unit="deg"/>
<define name="DEFAULT_CONTRAST" value="200"/>
<define name="RAD_OF_IR_CONTRAST" value="0.75"/>
<linear name="RollOfIrs" arity="2" coeff1="0.7" coeff2="0.7"/>
@@ -97,7 +97,7 @@
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/>
@@ -106,25 +106,25 @@
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="50."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.03"/>
<define name="ALTITUDE_PGAIN" value="-0.07"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.55"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-500"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.025"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
@@ -228,7 +228,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
ap.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_ADC_6
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4
ap.srcs += $(SRC_ARCH)/adc_hw.c
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
@@ -246,8 +246,13 @@ ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c
# ap.srcs += gyro.c
# Hack to use the same tuning file than slayer1
ap.CFLAGS += -DUSE_GPIO
ap.srcs += $(SRC_ARCH)/gpio.c
# ap.CFLAGS += -DUSE_GPIO
# ap.srcs += $(SRC_ARCH)/gpio.c
# Chemo sensor
ap.CFLAGS += -DUSE_ADC_5 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC=ADC_5 -DADC_CHANNEL_GENERIC_NB_SAMPLES=16
ap.srcs += adc_generic.c
# Harware In The Loop