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[conf] updated example conf stuff

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This commit is contained in:
Felix Ruess
2012-05-08 21:36:07 +02:00
parent 09490b374c
commit a3a7a47e3f
4 changed files with 28 additions and 25 deletions
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conf/airframes/Poine/h_hex.xml
-10
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@@ -1,15 +1,6 @@
<!-- this is a custom hexa Lisa/L#3 and mikrokopter controllers -->
<airframe name="booz2_a6">
<servos min="0" neutral="0" max="0xff">
<servo name="BACK_RIGHT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK_LEFT" no="1" min="0" neutral="0" max="255"/>
<servo name="CENTER_RIGHT" no="2" min="0" neutral="0" max="255"/>
<servo name="CENTER_LEFT" no="3" min="0" neutral="0" max="255"/>
<servo name="FRONT_RIGHT" no="4" min="0" neutral="0" max="255"/>
<servo name="FRONT_LEFT" no="5" min="0" neutral="0" max="255"/>
</servos>
<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
@@ -153,7 +144,6 @@
<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="INV_M" value ="0.2"/>
</section>
conf/airframes/quadrotor_lisa_m_2_pwm_example.xml
+15 -2
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@@ -22,6 +22,13 @@
<subsystem name="ahrs" type="int_cmpl_quat"/>
</firmware>
<servos min="0" neutral="0" max="0xff">
<servo name="FRONT" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="BACK" no="1" min="1000" neutral="1000" max="2000"/>
<servo name="RIGHT" no="2" min="1000" neutral="1000" max="2000"/>
<servo name="LEFT" no="3" min="1000" neutral="1000" max="2000"/>
</servos>
<commands>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
@@ -29,7 +36,12 @@
<axis name="THRUST" failsafe_value="0"/>
</commands>
<!-- for the sim -->
<command_laws>
<!-- command_laws is needed for pwm_supervision -->
<!-- but can be empty if no additional servos are used -->
</command_laws>
<!-- only for the nps sim -->
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
<define name="NB" value="4"/>
<!-- FRONT, BACK, RIGHT, LEFT -->
@@ -45,7 +57,7 @@
<define name="TRIM_R" value="0"/>
<define name="NB_MOTOR" value="4"/>
<define name="SCALE" value="256"/>
<!-- front/back turning CW, left/right CCW -->
<!-- front/back turning CW, right/left CCW -->
<define name="ROLL_COEF" value="{ 0, 0, -256, 256 }"/>
<define name="PITCH_COEF" value="{ 256, -256, 0, 0 }"/>
<define name="YAW_COEF" value="{ -256, -256, 256, 256 }"/>
@@ -57,6 +69,7 @@
<define name="ACCEL_Y_NEUTRAL" value="11"/>
<define name="ACCEL_Z_NEUTRAL" value="-25"/>
<!-- replace this with your own calibration -->
<define name="MAG_X_NEUTRAL" value="-152"/>
<define name="MAG_Y_NEUTRAL" value="-51"/>
<define name="MAG_Z_NEUTRAL" value="10"/>
conf/conf.xml.example
+13 -13
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@@ -10,7 +10,7 @@
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/dummy.xml"
settings="settings/settings_booz2.xml settings/settings_booz2_ahrs_cmpl.xml"
settings="settings/rotorcraft_basic.xml"
gui_color="white"
/>
@@ -22,17 +22,17 @@
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/dummy.xml"
settings="settings/settings_booz2.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
gui_color="white"
/>
<aircraft
name="LISA_ASCTEC_PIOTR"
ac_id="161"
airframe="airframes/esden/lisa_asctec.xml"
name="Quad_LisaM"
ac_id="162"
airframe="airframes/quadrotor_lisa_m_2_pwm_example.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/dummy.xml"
settings="settings/settings_booz2.xml settings/settings_booz2_ahrs_cmpl.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml"
gui_color="white"
/>
@@ -44,7 +44,7 @@
radio="radios/cockpitMM.xml"
telemetry="telemetry/default_fixedwing.xml"
flight_plan="flight_plans/basic.xml"
settings="settings/basic_infrared.xml"
settings="settings/fixedwing_basic.xml settings/estimation/infrared.xml"
gui_color="#6293ba"
/>
<aircraft
@@ -54,7 +54,7 @@
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_fixedwing_imu.xml"
flight_plan="flight_plans/versatile.xml"
settings="settings/tuning_ins.xml"
settings="settings/fixedwing_tuning.xml settings/estimation/ins_neutrals.xml"
gui_color="blue"
/>
<aircraft
@@ -64,7 +64,7 @@
radio="radios/cockpitMM.xml"
telemetry="telemetry/default_fixedwing.xml"
flight_plan="flight_plans/versatile.xml"
settings="settings/tuning.xml settings/infrared.xml"
settings="settings/fixedwing_tuning.xml settings/estimation/infrared.xml"
gui_color="#ba6293"
/>
<aircraft
@@ -74,7 +74,7 @@
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_fixedwing.xml"
flight_plan="flight_plans/versatile.xml"
settings="settings/tuning.xml settings/infrared.xml"
settings="settings/fixedwing_tuning.xml settings/estimation/infrared.xml"
gui_color="red"
/>
@@ -86,7 +86,7 @@
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/dummy.xml"
settings="settings/settings_booz2.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
gui_color="white"
/>
<aircraft
@@ -96,7 +96,7 @@
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/dummy.xml"
settings="settings/settings_booz2.xml"
settings="settings/rotorcraft_basic.xml"
gui_color="white"
/>
</conf>
conf/settings/control/stabilization_att_int_quat.xml → conf/settings/control/stabilization_att_int.xml
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