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update INDI fan demo

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This commit is contained in:
Ewoud Smeur
2017-11-01 13:49:26 +01:00
parent e62b7151b1
commit 943d86dc04
2 changed files with 17 additions and 4 deletions
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conf/airframes/tudelft/fan_demo.xml
+14 -1
View File
@@ -1,6 +1,6 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd"> <!DOCTYPE airframe SYSTEM "../airframe.dtd">
<airframe name="bebop_indi"> <airframe name="fan_demo">
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="bebop"/> <target name="ap" board="bebop"/>
@@ -36,6 +36,19 @@
</module--> </module-->
</firmware> </firmware>
<section name="gyro_scaling">
<define name="BEBOP_GYRO_RANGE" value="MPU60X0_GYRO_RANGE_2000"/>
<define name="IMU_GYRO_P_SENS" value="4.359"/>
<define name="IMU_GYRO_Q_SENS" value="4.359"/>
<define name="IMU_GYRO_R_SENS" value="4.359"/>
<define name="IMU_GYRO_P_SENS_NUM" value="4359"/>
<define name="IMU_GYRO_Q_SENS_NUM" value="4359"/>
<define name="IMU_GYRO_R_SENS_NUM" value="4359"/>
<define name="IMU_GYRO_P_SENS_DEN" value="1000"/>
<define name="IMU_GYRO_Q_SENS_DEN" value="1000"/>
<define name="IMU_GYRO_R_SENS_DEN" value="1000"/>
</section>
<commands> <commands>
<axis name="PITCH" failsafe_value="0"/> <axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/> <axis name="ROLL" failsafe_value="0"/>
conf/flight_plans/tudelft/fan_demo.xml
+3 -3
View File
@@ -10,8 +10,8 @@
<waypoint name="GOAL" x="2.0" y="2.0"/> <waypoint name="GOAL" x="2.0" y="2.0"/>
<waypoint name="STDBY" x="-0.7" y="-0.8"/> <waypoint name="STDBY" x="-0.7" y="-0.8"/>
<waypoint name="TD" x="-0.9" y="0.0"/> <waypoint name="TD" x="-0.9" y="0.0"/>
<waypoint lat="51.990620" lon="4.376805" name="p1"/> <waypoint lat="51.9906079" lon="4.3767862" name="p1"/>
<waypoint lat="51.990611" lon="4.376783" name="p2"/> <waypoint lat="51.9906019" lon="4.3767733" name="p2"/>
<waypoint lat="51.9906213" lon="4.3768628" name="FA1"/> <waypoint lat="51.9906213" lon="4.3768628" name="FA1"/>
<waypoint lat="51.9905874" lon="4.3767766" name="FA2"/> <waypoint lat="51.9905874" lon="4.3767766" name="FA2"/>
<waypoint lat="51.9906409" lon="4.3767226" name="FA3"/> <waypoint lat="51.9906409" lon="4.3767226" name="FA3"/>
@@ -39,7 +39,7 @@
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/> <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
</block> </block>
<block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png"> <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
<exception cond="stateGetPositionEnu_f()->z > 0.3" deroute="Standby"/> <exception cond="stateGetPositionEnu_f()->z > 0.3" deroute="stay_p1"/>
<call_once fun="NavSetWaypointHere(WP_CLIMB)"/> <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
<stay wp="CLIMB"/> <stay wp="CLIMB"/>
</block> </block>