mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-07 17:49:49 +08:00
[conf] TU Delft AR.Drone dummy calibration files and auto startup
This commit is contained in:
fvantienen
Felix Ruess
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<!-- ARDrone calibration file -->
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<airframe>
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<section name="IMU" prefix="IMU_">
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<!-- Magneto calibration -->
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<define name="MAG_X_NEUTRAL" value="99"/>
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<define name="MAG_Y_NEUTRAL" value="59"/>
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<define name="MAG_Z_NEUTRAL" value="-65"/>
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<define name="MAG_X_SENS" value="14.8494072406" integer="16"/>
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<define name="MAG_Y_SENS" value="14.4187929352" integer="16"/>
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<define name="MAG_Z_SENS" value="15.4390790318" integer="16"/>
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<!-- Magneto current calibration -->
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<define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
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<define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>
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<define name="MAG_Z_CURRENT_COEF" value="0.00022802329524"/>
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</section>
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</airframe>
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@@ -0,0 +1,18 @@
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<!-- ARDrone calibration file -->
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<airframe>
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<section name="IMU" prefix="IMU_">
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<!-- Magneto calibration -->
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<define name="MAG_X_NEUTRAL" value="57"/>
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<define name="MAG_Y_NEUTRAL" value="-13"/>
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<define name="MAG_Z_NEUTRAL" value="-150"/>
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<define name="MAG_X_SENS" value="18.4329549733" integer="16"/>
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<define name="MAG_Y_SENS" value="16.877985337" integer="16"/>
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<define name="MAG_Z_SENS" value="20.2550157453" integer="16"/>
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<!-- Magneto current calibration -->
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<define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
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<define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>
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<define name="MAG_Z_CURRENT_COEF" value="0.00022802329524"/>
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</section>
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</airframe>
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@@ -0,0 +1,18 @@
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<!-- ARDrone calibration file -->
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<airframe>
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<section name="IMU" prefix="IMU_">
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<!-- Magneto calibration -->
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<define name="MAG_X_NEUTRAL" value="16"/>
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<define name="MAG_Y_NEUTRAL" value="-11"/>
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<define name="MAG_Z_NEUTRAL" value="-131"/>
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<define name="MAG_X_SENS" value="17.206234987" integer="16"/>
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<define name="MAG_Y_SENS" value="16.4124010821" integer="16"/>
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<define name="MAG_Z_SENS" value="13.6629556861" integer="16"/>
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<!-- Magneto current calibration -->
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<define name= "MAG_X_CURRENT_COEF" value="0.00202964254187"/>
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<define name= "MAG_Y_CURRENT_COEF" value="-0.000446794092786"/>
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<define name= "MAG_Z_CURRENT_COEF" value="-0.000974773119924"/>
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</section>
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</airframe>
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@@ -0,0 +1,18 @@
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<!-- ARDrone calibration file -->
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<airframe>
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<section name="IMU" prefix="IMU_">
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<!-- Magneto calibration -->
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<define name="MAG_X_NEUTRAL" value="33"/>
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<define name="MAG_Y_NEUTRAL" value="44"/>
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<define name="MAG_Z_NEUTRAL" value="-264"/>
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<define name="MAG_X_SENS" value="19.1984157982" integer="16"/>
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<define name="MAG_Y_SENS" value="18.7031225235" integer="16"/>
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<define name="MAG_Z_SENS" value="19.0380688485" integer="16"/>
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<!-- Magneto current calibration -->
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<define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
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<define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>
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<define name="MAG_Z_CURRENT_COEF" value="0.00022802329524"/>
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</section>
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</airframe>
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@@ -0,0 +1,18 @@
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<!-- ARDrone calibration file -->
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<airframe>
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<section name="IMU" prefix="IMU_">
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<!-- Magneto calibration -->
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<define name="MAG_X_NEUTRAL" value="33"/>
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<define name="MAG_Y_NEUTRAL" value="44"/>
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<define name="MAG_Z_NEUTRAL" value="-264"/>
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<define name="MAG_X_SENS" value="19.1984157982" integer="16"/>
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<define name="MAG_Y_SENS" value="18.7031225235" integer="16"/>
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<define name="MAG_Z_SENS" value="19.0380688485" integer="16"/>
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<!-- Magneto current calibration -->
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<define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
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<define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>
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<define name="MAG_Z_CURRENT_COEF" value="0.00022802329524"/>
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</section>
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</airframe>
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@@ -0,0 +1,18 @@
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<!-- ARDrone calibration file -->
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<airframe>
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<section name="IMU" prefix="IMU_">
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<!-- Magneto calibration -->
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<define name="MAG_X_NEUTRAL" value="33"/>
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<define name="MAG_Y_NEUTRAL" value="44"/>
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<define name="MAG_Z_NEUTRAL" value="-264"/>
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<define name="MAG_X_SENS" value="19.1984157982" integer="16"/>
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<define name="MAG_Y_SENS" value="18.7031225235" integer="16"/>
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<define name="MAG_Z_SENS" value="19.0380688485" integer="16"/>
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<!-- Magneto current calibration -->
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<define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
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<define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>
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<define name="MAG_Z_CURRENT_COEF" value="0.00022802329524"/>
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</section>
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</airframe>
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@@ -0,0 +1,18 @@
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<!-- ARDrone calibration file -->
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<airframe>
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<section name="IMU" prefix="IMU_">
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<!-- Magneto calibration -->
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<define name="MAG_X_NEUTRAL" value="33"/>
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<define name="MAG_Y_NEUTRAL" value="44"/>
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<define name="MAG_Z_NEUTRAL" value="-264"/>
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<define name="MAG_X_SENS" value="19.1984157982" integer="16"/>
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<define name="MAG_Y_SENS" value="18.7031225235" integer="16"/>
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<define name="MAG_Z_SENS" value="19.0380688485" integer="16"/>
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<!-- Magneto current calibration -->
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<define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
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<define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>
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<define name="MAG_Z_CURRENT_COEF" value="0.00022802329524"/>
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</section>
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</airframe>
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@@ -0,0 +1,18 @@
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<!-- ARDrone calibration file -->
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<airframe>
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<section name="IMU" prefix="IMU_">
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<!-- Magneto calibration -->
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<define name="MAG_X_NEUTRAL" value="33"/>
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<define name="MAG_Y_NEUTRAL" value="44"/>
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<define name="MAG_Z_NEUTRAL" value="-264"/>
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<define name="MAG_X_SENS" value="19.1984157982" integer="16"/>
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<define name="MAG_Y_SENS" value="18.7031225235" integer="16"/>
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<define name="MAG_Z_SENS" value="19.0380688485" integer="16"/>
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<!-- Magneto current calibration -->
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<define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
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<define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>
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<define name="MAG_Z_CURRENT_COEF" value="0.00022802329524"/>
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</section>
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</airframe>
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@@ -0,0 +1,18 @@
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<!-- ARDrone calibration file -->
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<airframe>
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<section name="IMU" prefix="IMU_">
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<!-- Magneto calibration -->
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<define name="MAG_X_NEUTRAL" value="33"/>
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<define name="MAG_Y_NEUTRAL" value="44"/>
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<define name="MAG_Z_NEUTRAL" value="-264"/>
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<define name="MAG_X_SENS" value="19.1984157982" integer="16"/>
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<define name="MAG_Y_SENS" value="18.7031225235" integer="16"/>
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<define name="MAG_Z_SENS" value="19.0380688485" integer="16"/>
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<!-- Magneto current calibration -->
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<define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
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<define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>
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<define name="MAG_Z_CURRENT_COEF" value="0.00022802329524"/>
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</section>
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</airframe>
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@@ -0,0 +1,18 @@
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<!-- ARDrone calibration file -->
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<airframe>
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<section name="IMU" prefix="IMU_">
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<!-- Magneto calibration -->
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<define name="MAG_X_NEUTRAL" value="33"/>
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<define name="MAG_Y_NEUTRAL" value="44"/>
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<define name="MAG_Z_NEUTRAL" value="-264"/>
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<define name="MAG_X_SENS" value="19.1984157982" integer="16"/>
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<define name="MAG_Y_SENS" value="18.7031225235" integer="16"/>
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<define name="MAG_Z_SENS" value="19.0380688485" integer="16"/>
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<!-- Magneto current calibration -->
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<define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
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<define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>
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<define name="MAG_Z_CURRENT_COEF" value="0.00022802329524"/>
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</section>
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</airframe>
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@@ -0,0 +1,18 @@
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<!-- ARDrone calibration file -->
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<airframe>
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<section name="IMU" prefix="IMU_">
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<!-- Magneto calibration -->
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<define name="MAG_X_NEUTRAL" value="33"/>
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<define name="MAG_Y_NEUTRAL" value="44"/>
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<define name="MAG_Z_NEUTRAL" value="-264"/>
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<define name="MAG_X_SENS" value="19.1984157982" integer="16"/>
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<define name="MAG_Y_SENS" value="18.7031225235" integer="16"/>
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<define name="MAG_Z_SENS" value="19.0380688485" integer="16"/>
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<!-- Magneto current calibration -->
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<define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
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<define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>
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<define name="MAG_Z_CURRENT_COEF" value="0.00022802329524"/>
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</section>
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</airframe>
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@@ -0,0 +1,18 @@
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<!-- ARDrone calibration file -->
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<airframe>
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<section name="IMU" prefix="IMU_">
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<!-- Magneto calibration -->
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<define name="MAG_X_NEUTRAL" value="33"/>
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<define name="MAG_Y_NEUTRAL" value="44"/>
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<define name="MAG_Z_NEUTRAL" value="-264"/>
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<define name="MAG_X_SENS" value="19.1984157982" integer="16"/>
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<define name="MAG_Y_SENS" value="18.7031225235" integer="16"/>
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<define name="MAG_Z_SENS" value="19.0380688485" integer="16"/>
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<!-- Magneto current calibration -->
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<define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
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<define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>
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<define name="MAG_Z_CURRENT_COEF" value="0.00022802329524"/>
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</section>
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</airframe>
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@@ -0,0 +1,208 @@
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<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
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<airframe name="ardrone2_raw">
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<firmware name="rotorcraft">
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<!-- Main autopilot target -->
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<target name="ap" board="ardrone2_raw">
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<define name="USE_INS_NAV_INIT"/>
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<configure name="AHRS_PROPAGATE_FREQUENCY" value="200"/>
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<define name="AHRS_PROPAGATE_FREQUENCY" value="200"/>
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<define name="INS_PROPAGATE_FREQUENCY" value="200"/>
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<define name="USE_BAROMETER"/>
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<define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
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<define name="LINK_HOST" value="\\\"192.168.2.255\\\""/>
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<!-- configure name="HOST" value="192.168.2.$(AC_ID)"/ -->
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<configure name="ARDRONE2_START_PAPARAZZI" value="1"/>
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<configure name="ARDRONE2_WIFI_MODE" value="2"/>
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<configure name="ARDRONE2_SSID" value="tudelft_swarmhub"/>
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<configure name="ARDRONE2_IP_ADDRESS_BASE" value="192.168.2."/>
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<configure name="ARDRONE2_IP_ADDRESS_PROBE" value="$(AC_ID)"/>
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<configure name="ARDRONE2_REBOOT" value="1"/>
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</target>
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<!-- Subsystem section -->
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<subsystem name="telemetry" type="udp"/>
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<subsystem name="radio_control" type="datalink"/>
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<subsystem name="motor_mixing"/>
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<subsystem name="actuators" type="ardrone2"/>
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<subsystem name="imu" type="ardrone2"/>
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<subsystem name="gps" type="ublox"/>
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<subsystem name="stabilization" type="int_quat"/>
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<subsystem name="ahrs" type="int_cmpl_quat"/>
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<subsystem name="ins" type="extended"/>
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</firmware>
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<modules main_freq="512">
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<load name="gps_ubx_ucenter.xml"/>
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</modules>
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<commands>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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<axis name="THRUST" failsafe_value="3000"/>
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</commands>
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<servos driver="Default">
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<servo name="TOP_LEFT" no="0" min="0" neutral="1" max="500"/>
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<servo name="TOP_RIGHT" no="1" min="0" neutral="1" max="500"/>
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<servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500"/>
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<servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500"/>
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</servos>
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<section name="MIXING" prefix="MOTOR_MIXING_">
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<define name="TRIM_ROLL" value="0"/>
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<define name="TRIM_PITCH" value="0"/>
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<define name="TRIM_YAW" value="0"/>
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<define name="NB_MOTOR" value="4"/>
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<define name="SCALE" value="255"/>
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<!-- Time cross layout (X), as documented in paparazzi -->
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<define name="ROLL_COEF" value="{ 256, -256, -256, 256 }"/>
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<define name="PITCH_COEF" value="{ 256, 256, -256, -256 }"/>
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<define name="YAW_COEF" value="{ -256, 256, -256, 256 }"/>
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<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
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</section>
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<command_laws>
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<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
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<set servo="TOP_LEFT" value="motor_mixing.commands[SERVO_TOP_LEFT]"/>
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<set servo="TOP_RIGHT" value="motor_mixing.commands[SERVO_TOP_RIGHT]"/>
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<set servo="BOTTOM_LEFT" value="motor_mixing.commands[SERVO_BOTTOM_LEFT]"/>
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<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[SERVO_BOTTOM_RIGHT]"/>
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</command_laws>
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<include href="conf/airframes/TUDelft/IMAV2013/ARDrone/$AC_ID_calib.xml"/>
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<section name="IMU" prefix="IMU_">
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<define name="ACCEL_X_NEUTRAL" value="2056"/>
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<define name="ACCEL_Y_NEUTRAL" value="2060"/>
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<define name="ACCEL_Z_NEUTRAL" value="2052"/>
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<!-- Body to IMU is no difference -->
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<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
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</section>
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|
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<!-- local magnetic field, calculated for: 52°3'56", 4°31'24" -->
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<!-- http://paparazzi.enac.fr/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
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<section name="AHRS" prefix="AHRS_">
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<define name="H_X" value="0.3892503"/>
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<define name="H_Y" value="0.0017972"/>
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<define name="H_Z" value="0.9211303"/>
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</section>
|
||||
|
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<section name="INS" prefix="INS_">
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<define name="BARO_SENS" value="22.4" integer="16"/>
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</section>
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||||
|
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<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
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<!-- setpoints -->
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<define name="SP_MAX_P" value="10000"/>
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<define name="SP_MAX_Q" value="10000"/>
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||||
<define name="SP_MAX_R" value="10000"/>
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||||
<define name="DEADBAND_P" value="20"/>
|
||||
<define name="DEADBAND_Q" value="20"/>
|
||||
<define name="DEADBAND_R" value="200"/>
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||||
<define name="REF_TAU" value="4"/>
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|
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<!-- feedback -->
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||||
<define name="GAIN_P" value="400"/>
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<define name="GAIN_Q" value="400"/>
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<define name="GAIN_R" value="350"/>
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||||
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||||
<define name="IGAIN_P" value="75"/>
|
||||
<define name="IGAIN_Q" value="75"/>
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||||
<define name="IGAIN_R" value="50"/>
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||||
|
||||
<!-- feedforward -->
|
||||
<define name="DDGAIN_P" value="300"/>
|
||||
<define name="DDGAIN_Q" value="300"/>
|
||||
<define name="DDGAIN_R" value="300"/>
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
|
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<!-- setpoints -->
|
||||
<define name="SP_MAX_PHI" value="45" unit="deg"/>
|
||||
<define name="SP_MAX_THETA" value="45" unit="deg"/>
|
||||
<define name="SP_MAX_R" value="600" unit="deg/s"/>
|
||||
<define name="DEADBAND_A" value="0"/>
|
||||
<define name="DEADBAND_E" value="0"/>
|
||||
<define name="DEADBAND_R" value="250"/>
|
||||
|
||||
<!-- reference -->
|
||||
<define name="REF_OMEGA_P" value="900" unit="deg/s"/>
|
||||
<define name="REF_ZETA_P" value="0.9"/>
|
||||
<define name="REF_MAX_P" value="600." unit="deg/s"/>
|
||||
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_Q" value="900" unit="deg/s"/>
|
||||
<define name="REF_ZETA_Q" value="0.9"/>
|
||||
<define name="REF_MAX_Q" value="600." unit="deg/s"/>
|
||||
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_R" value="600" unit="deg/s"/>
|
||||
<define name="REF_ZETA_R" value="0.9"/>
|
||||
<define name="REF_MAX_R" value="400." unit="deg/s"/>
|
||||
<define name="REF_MAX_RDOT" value="RadOfDeg(4000.)"/>
|
||||
|
||||
<!-- feedback -->
|
||||
<define name="PHI_PGAIN" value="592"/>
|
||||
<define name="PHI_DGAIN" value="303"/>
|
||||
<define name="PHI_IGAIN" value="0"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="606"/>
|
||||
<define name="THETA_DGAIN" value="303"/>
|
||||
<define name="THETA_IGAIN" value="0"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="529"/>
|
||||
<define name="PSI_DGAIN" value="353"/>
|
||||
<define name="PSI_IGAIN" value="0"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value="0"/>
|
||||
<define name="THETA_DDGAIN" value="0"/>
|
||||
<define name="PSI_DDGAIN" value="52"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
||||
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
|
||||
<define name="MAX_ERR_Z" value="POS_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_SUM_ERR" value="2000000"/>
|
||||
<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_">
|
||||
<define name="MAX_BANK" value="20" unit="deg"/>
|
||||
<define name="PGAIN" value="79"/>
|
||||
<define name="DGAIN" value="100"/>
|
||||
<define name="IGAIN" value="26"/>
|
||||
</section>
|
||||
|
||||
<section name="AUTOPILOT">
|
||||
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
|
||||
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
|
||||
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
|
||||
</section>
|
||||
</airframe>
|
||||
@@ -1,7 +1,177 @@
|
||||
<conf>
|
||||
<aircraft
|
||||
name="Ardrone2_raw_180"
|
||||
ac_id="180"
|
||||
airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
|
||||
radio="radios/cockpitSX.xml"
|
||||
telemetry="telemetry/default_ardrone.xml"
|
||||
flight_plan="flight_plans/rotorcraft_basic.xml"
|
||||
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
|
||||
gui_color="red"
|
||||
/>
|
||||
<aircraft
|
||||
name="Ardrone2_raw_181"
|
||||
ac_id="181"
|
||||
airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
|
||||
radio="radios/cockpitSX.xml"
|
||||
telemetry="telemetry/default_ardrone.xml"
|
||||
flight_plan="flight_plans/rotorcraft_basic.xml"
|
||||
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
|
||||
gui_color="red"
|
||||
/>
|
||||
<aircraft
|
||||
name="Ardrone2_raw_182"
|
||||
ac_id="182"
|
||||
airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
|
||||
radio="radios/cockpitSX.xml"
|
||||
telemetry="telemetry/default_ardrone.xml"
|
||||
flight_plan="flight_plans/rotorcraft_basic.xml"
|
||||
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
|
||||
gui_color="red"
|
||||
/>
|
||||
<aircraft
|
||||
name="Ardrone2_raw_183"
|
||||
ac_id="183"
|
||||
airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
|
||||
radio="radios/cockpitSX.xml"
|
||||
telemetry="telemetry/default_ardrone.xml"
|
||||
flight_plan="flight_plans/rotorcraft_basic.xml"
|
||||
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
|
||||
gui_color="red"
|
||||
/>
|
||||
<aircraft
|
||||
name="Ardrone2_raw_184"
|
||||
ac_id="184"
|
||||
airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
|
||||
radio="radios/cockpitSX.xml"
|
||||
telemetry="telemetry/default_ardrone.xml"
|
||||
flight_plan="flight_plans/rotorcraft_basic.xml"
|
||||
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
|
||||
gui_color="red"
|
||||
/>
|
||||
<aircraft
|
||||
name="Ardrone2_raw_185"
|
||||
ac_id="185"
|
||||
airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
|
||||
radio="radios/cockpitSX.xml"
|
||||
telemetry="telemetry/default_ardrone.xml"
|
||||
flight_plan="flight_plans/rotorcraft_basic.xml"
|
||||
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
|
||||
gui_color="red"
|
||||
/>
|
||||
<aircraft
|
||||
name="Ardrone2_raw_186"
|
||||
ac_id="186"
|
||||
airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
|
||||
radio="radios/cockpitSX.xml"
|
||||
telemetry="telemetry/default_ardrone.xml"
|
||||
flight_plan="flight_plans/rotorcraft_basic.xml"
|
||||
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
|
||||
gui_color="red"
|
||||
/>
|
||||
<aircraft
|
||||
name="Ardrone2_raw_187"
|
||||
ac_id="187"
|
||||
airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
|
||||
radio="radios/cockpitSX.xml"
|
||||
telemetry="telemetry/default_ardrone.xml"
|
||||
flight_plan="flight_plans/rotorcraft_basic.xml"
|
||||
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
|
||||
gui_color="red"
|
||||
/>
|
||||
<aircraft
|
||||
name="Ardrone2_raw_188"
|
||||
ac_id="188"
|
||||
airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
|
||||
radio="radios/cockpitSX.xml"
|
||||
telemetry="telemetry/default_ardrone.xml"
|
||||
flight_plan="flight_plans/rotorcraft_basic.xml"
|
||||
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
|
||||
gui_color="red"
|
||||
/>
|
||||
<aircraft
|
||||
name="Ardrone2_raw_189"
|
||||
ac_id="189"
|
||||
airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
|
||||
radio="radios/cockpitSX.xml"
|
||||
telemetry="telemetry/default_ardrone.xml"
|
||||
flight_plan="flight_plans/rotorcraft_basic.xml"
|
||||
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
|
||||
gui_color="red"
|
||||
/>
|
||||
<aircraft
|
||||
name="Ardrone2_raw_190"
|
||||
ac_id="190"
|
||||
airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
|
||||
radio="radios/cockpitSX.xml"
|
||||
telemetry="telemetry/default_ardrone.xml"
|
||||
flight_plan="flight_plans/rotorcraft_basic.xml"
|
||||
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
|
||||
gui_color="red"
|
||||
/>
|
||||
<aircraft
|
||||
name="Ardrone2_raw_191"
|
||||
ac_id="191"
|
||||
airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
|
||||
radio="radios/cockpitSX.xml"
|
||||
telemetry="telemetry/default_ardrone.xml"
|
||||
flight_plan="flight_plans/rotorcraft_basic.xml"
|
||||
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
|
||||
gui_color="red"
|
||||
/>
|
||||
<aircraft
|
||||
name="Ardrone2_raw_192"
|
||||
ac_id="192"
|
||||
airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
|
||||
radio="radios/cockpitSX.xml"
|
||||
telemetry="telemetry/default_ardrone.xml"
|
||||
flight_plan="flight_plans/rotorcraft_basic.xml"
|
||||
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
|
||||
gui_color="red"
|
||||
/>
|
||||
<aircraft
|
||||
name="Ardrone2_raw_193"
|
||||
ac_id="193"
|
||||
airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
|
||||
radio="radios/cockpitSX.xml"
|
||||
telemetry="telemetry/default_ardrone.xml"
|
||||
flight_plan="flight_plans/rotorcraft_basic.xml"
|
||||
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
|
||||
gui_color="red"
|
||||
/>
|
||||
<aircraft
|
||||
name="Ardrone2_raw_194"
|
||||
ac_id="194"
|
||||
airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
|
||||
radio="radios/cockpitSX.xml"
|
||||
telemetry="telemetry/default_ardrone.xml"
|
||||
flight_plan="flight_plans/rotorcraft_basic.xml"
|
||||
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
|
||||
gui_color="red"
|
||||
/>
|
||||
<aircraft
|
||||
name="Ardrone2_raw_195"
|
||||
ac_id="195"
|
||||
airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
|
||||
radio="radios/cockpitSX.xml"
|
||||
telemetry="telemetry/default_ardrone.xml"
|
||||
flight_plan="flight_plans/rotorcraft_basic.xml"
|
||||
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
|
||||
gui_color="red"
|
||||
/>
|
||||
<aircraft
|
||||
name="Ardrone2_raw_196"
|
||||
ac_id="196"
|
||||
airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
|
||||
radio="radios/cockpitSX.xml"
|
||||
telemetry="telemetry/default_ardrone.xml"
|
||||
flight_plan="flight_plans/rotorcraft_basic.xml"
|
||||
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
|
||||
gui_color="red"
|
||||
/>
|
||||
<aircraft
|
||||
name="ChouChou_LisaS"
|
||||
ac_id="5"
|
||||
ac_id="135"
|
||||
airframe="airframes/TUDelft/IMAV2013/chouchou_lisa_s.xml"
|
||||
radio="radios/cockpitSX.xml"
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
@@ -11,7 +181,7 @@
|
||||
/>
|
||||
<aircraft
|
||||
name="MavRick_LisaS"
|
||||
ac_id="1"
|
||||
ac_id="131"
|
||||
airframe="airframes/TUDelft/IMAV2013/mavrick_lisa_s.xml"
|
||||
radio="radios/cockpitSX.xml"
|
||||
telemetry="telemetry/default_fixedwing_imu.xml"
|
||||
@@ -21,7 +191,7 @@
|
||||
/>
|
||||
<aircraft
|
||||
name="Quadrotor_LisaS"
|
||||
ac_id="2"
|
||||
ac_id="132"
|
||||
airframe="airframes/examples/quadrotor_lisa_s.xml"
|
||||
radio="radios/cockpitSX.xml"
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
@@ -31,7 +201,7 @@
|
||||
/>
|
||||
<aircraft
|
||||
name="Walkera_GeniusV1"
|
||||
ac_id="4"
|
||||
ac_id="134"
|
||||
airframe="airframes/TUDelft/IMAV2013/walkera_genius_v1.xml"
|
||||
radio="radios/cockpitSX.xml"
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
@@ -41,7 +211,7 @@
|
||||
/>
|
||||
<aircraft
|
||||
name="Walkera_V120D02S"
|
||||
ac_id="3"
|
||||
ac_id="133"
|
||||
airframe="airframes/TUDelft/IMAV2013/walkera_V120D02S.xml"
|
||||
radio="radios/cockpitSX.xml"
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
|
||||
Reference in New Issue
Block a user