From 9add5d1c316b251f064197ee65ca7c7ddb928f47 Mon Sep 17 00:00:00 2001
From: Christophe De Wagter <dewagter@gmail.com>
Date: Thu, 26 Sep 2013 09:05:01 +0200
Subject: [PATCH] [Ardrone][Raw] More general airframe

---
 conf/airframes/ardrone2_raw.xml | 70 +++++++++++++++++----------------
 1 file changed, 36 insertions(+), 34 deletions(-)

diff --git a/conf/airframes/ardrone2_raw.xml b/conf/airframes/ardrone2_raw.xml
index 99265a1638..98ec28a287 100644
--- a/conf/airframes/ardrone2_raw.xml
+++ b/conf/airframes/ardrone2_raw.xml
@@ -5,7 +5,6 @@
   <firmware name="rotorcraft">
     <target name="ap" board="ardrone2_raw">
       <define name="USE_INS_NAV_INIT"/>
-      <!--configure name="USE_NEW_I2C_DRIVER" value="1"/ -->
       <configure name="AHRS_PROPAGATE_FREQUENCY" value="200"/>
       <define name="AHRS_PROPAGATE_FREQUENCY" value="200"/>
       <define name="INS_PROPAGATE_FREQUENCY" value="200"/>
@@ -20,15 +19,14 @@
       <subsystem name="radio_control" type="ppm"/>
     </target>
 
+	<!-- Subsystem section -->
     <subsystem name="motor_mixing"/>
-
     <subsystem name="actuators" type="ardrone2"/>
     <subsystem name="imu" type="ardrone2"/>
     <subsystem name="gps" type="ublox"/>
     <subsystem name="stabilization" type="int_quat"/>
     <subsystem name="ahrs" type="int_cmpl_quat"/>
     <subsystem name="ins" type="extended"/>
-
   </firmware>
 
   <modules main_freq="512">
@@ -39,7 +37,7 @@
     <axis name="PITCH" failsafe_value="0"/>
     <axis name="ROLL" failsafe_value="0"/>
     <axis name="YAW" failsafe_value="0"/>
-    <axis name="THRUST" failsafe_value="0"/>
+    <axis name="THRUST" failsafe_value="3000"/>
   </commands>
 
   <servos driver="Default">
@@ -55,11 +53,12 @@
     <define name="TRIM_YAW" value="0"/>
     <define name="NB_MOTOR" value="4"/>
     <define name="SCALE" value="255"/>
+
     <!-- Time cross layout (X), as documented in paparazzi -->
-    <define name="ROLL_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="THRUST_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="YAW_COEF" value="{   -256,  256, -256,  256  }"/>
+    <define name="THRUST_COEF" value="{ 256,  256,  256,  256  }"/>
   </section>
 
   <command_laws>
@@ -71,36 +70,42 @@
   </command_laws>
 
   <section name="IMU" prefix="IMU_">
-    <define name="ACCEL_X_NEUTRAL" value="2056"/>
-    <define name="ACCEL_Y_NEUTRAL" value="2060"/>
-    <define name="ACCEL_Z_NEUTRAL" value="2052"/>
+    <!-- Accelero -->
+    <define name="ACCEL_X_NEUTRAL" value="2048"/>
+    <define name="ACCEL_Y_NEUTRAL" value="2048"/>
+    <define name="ACCEL_Z_NEUTRAL" value="2048"/>
 
-    <define name="MAG_X_NEUTRAL" value="99"/>
-    <define name="MAG_Y_NEUTRAL" value="59"/>
-    <define name="MAG_Z_NEUTRAL" value="-65"/>
-    <define name="MAG_X_SENS" value="14.8494072406" integer="16"/>
-    <define name="MAG_Y_SENS" value="14.4187929352" integer="16"/>
-    <define name="MAG_Z_SENS" value="15.4390790318" integer="16"/>
-    <define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
-    <define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>
-    <define name="MAG_Z_CURRENT_COEF" value="0.00022802329524"/>
+    <!-- Magneto calibration -->
+    <define name="MAG_X_NEUTRAL" value="0"/>
+    <define name="MAG_Y_NEUTRAL" value="0"/>
+    <define name="MAG_Z_NEUTRAL" value="-180"/>
+    <define name="MAG_X_SENS" value="16." integer="16"/>
+    <define name="MAG_Y_SENS" value="16." integer="16"/>
+    <define name="MAG_Z_SENS" value="16." integer="16"/>
 
+    <!-- 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>
 
-
-    <!-- roll -->
+  <section name="IMU" prefix="IMU_">
     <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
-    <!-- pitch -->
     <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
-    <!-- yaw -->
     <define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
   </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 -->
   <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_Z" value="0.9211303"/>
+    <define name="H_Z" value="0.9211303"/ -->
   </section>
 
   <section name="INS" prefix="INS_">
@@ -132,7 +137,6 @@
     <define name="DDGAIN_R" value="300"/>
   </section>
 
-
   <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
     <!-- setpoints -->
     <define name="SP_MAX_PHI" value="45" unit="deg"/>
@@ -186,19 +190,18 @@
     <define name="HOVER_KP" value="283"/>
     <define name="HOVER_KD" value="82"/>
     <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="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
   </section>
 
   <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+    <!-- Good weather -->
     <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="DGAIN" value="100"/>
-    <define name="IGAIN" value="26"/>
+    <define name="IGAIN" value="60"/>
   </section>
 
   <section name="SIMULATOR" prefix="NPS_">
@@ -221,5 +224,4 @@
     <define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
     <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
   </section>
-
 </airframe>