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debugging variables and gyro-cross components

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This commit is contained in:
Christophe De Wagter
2010-12-23 14:41:02 +01:00
parent 264679e18c
commit 968c7d36be
7 changed files with 51 additions and 18 deletions
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conf/airframes/TU_Delft/MicrojetCDW.xml
+20 -13
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@@ -4,13 +4,13 @@
<!-- commands section -->
<servos>
<servo name="THROTTLE" no="0" min="1110" neutral="1110" max="1900"/>
<servo name="AILEVON_LEFT" no="1" min="1000" neutral="1450" max="2000"/>
<servo name="AILEVON_RIGHT" no="2" min="2000" neutral="1450" max="1000"/>
<servo name="THROTTLE" no="0" min="1050" neutral="1050" max="1900"/>
<servo name="AILEVON_RIGHT" no="1" min="1850" neutral="1480" max="1100"/> <!-- 400 - 380 -->
<servo name="AILEVON_LEFT" no="2" min="1250" neutral="1580" max="1980"/> <!-- 300 - 400 -->
</servos>
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="THROTTLE" failsafe_value="9600"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
</commands>
@@ -22,8 +22,8 @@
</rc_commands>
<section name="MIXER">
<define name="AILEVON_AILERON_RATE" value="0.4"/>
<define name="AILEVON_ELEVATOR_RATE" value="0.7"/>
<define name="AILEVON_AILERON_RATE" value="0.75"/>
<define name="AILEVON_ELEVATOR_RATE" value="0.9"/>
</section>
<command_laws>
@@ -61,6 +61,13 @@
<define name="GYRO_Q_SENS" value="2.234" integer="16"/>
<define name="GYRO_R_SENS" value="2.234" integer="16"/>
<define name="GYRO_P_Q" value="0." />
<define name="GYRO_P_R" value="(1.0f/75.0f)" />
<define name="GYRO_Q_P" value="0." />
<define name="GYRO_Q_R" value="0." />
<define name="GYRO_R_P" value="0." />
<define name="GYRO_R_Q" value="0." />
<define name="GYRO_P_SIGN" value="1"/>
<define name="GYRO_Q_SIGN" value="-1"/>
<define name="GYRO_R_SIGN" value="-1"/>
@@ -145,18 +152,18 @@
<define name="COURSE_PGAIN" value="-1.4"/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="0.4" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="-0.4" unit="radians"/>
<define name="PITCH_PGAIN" value="-10000."/>
<define name="PITCH_DGAIN" value="0."/>
<define name="PITCH_PGAIN" value="-6000."/>
<define name="PITCH_DGAIN" value="5."/>
<define name="ELEVATOR_OF_ROLL" value="0."/>
<define name="ELEVATOR_OF_ROLL" value="1200."/>
<define name="ROLL_SLEW" value="0."/>
<define name="ROLL_ATTITUDE_GAIN" value="-10000."/>
<define name="ROLL_RATE_GAIN" value="0."/>
<define name="ROLL_ATTITUDE_GAIN" value="-5000."/>
<define name="ROLL_RATE_GAIN" value="500."/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">