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updated airframe file

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Eric Parsonage
2010-10-19 11:54:40 +00:00
parent 6b2cf1c6db
commit a694d7647d
1 changed files with 14 additions and 13 deletions
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conf/airframes/UofAdelaide/A1000_LISA.xml
+14 -13
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@@ -7,10 +7,11 @@
</modules>
<servos>
<servo name="FRONT" no="2" min="1000" neutral="1500" max="2000"/>
<servo name="BACK" no="0" min="1000" neutral="1500" max="2000"/>
<servo name="LEFT" no="1" min="1000" neutral="1500" max="2000"/>
<servo name="RIGHT" no="3" min="1000" neutral="1500" max="2000"/>
<servo name="BACK" no="0" min="2000" neutral="1500" max="1000"/>
<servo name="LEFT" no="1" min="2000" neutral="1500" max="1000"/>
<servo name="FRONT" no="2" min="2000" neutral="1500" max="1000"/>
<servo name="RIGHT" no="3" min="2000" neutral="1500" max="1000"/>
<servo name="ESC" no="4" min="1000" neutral="1000" max="2000"/>
</servos>
@@ -31,10 +32,10 @@
-->
<command_laws>
<set servo="ESC" value="motors_on?ESC_HOVER:ESC_STOPPED"/>
<set servo="FRONT" value="-(@PITCH - @YAW + @THRUST)"/>
<set servo="BACK" value="-(-@PITCH - @YAW + @THRUST)"/>
<set servo="LEFT" value="-(@ROLL + @YAW + @THRUST)"/>
<set servo="RIGHT" value="-(-@ROLL + @YAW + @THRUST)"/>
<set servo="FRONT" value="@PITCH + @YAW + @THRUST"/>
<set servo="BACK" value="-@PITCH + @YAW + @THRUST"/>
<set servo="LEFT" value="@ROLL - @YAW + @THRUST"/>
<set servo="RIGHT" value="-@ROLL - @YAW + @THRUST"/>
</command_laws>
<section name="IMU" prefix="IMU_">
@@ -142,14 +143,14 @@
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-400"/>
<define name="PSI_PGAIN" value="1000"/>
<define name="PSI_DGAIN" value="350"/>
<define name="PSI_IGAIN" value="10"/>
<define name="PSI_PGAIN" value="-1000"/>
<define name="PSI_DGAIN" value="-350"/>
<define name="PSI_IGAIN" value="-10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
<define name="THETA_DDGAIN" value=" 300"/>
<define name="PSI_DDGAIN" value=" -300"/>
<define name="PSI_DDGAIN" value=" 300"/>
</section>
@@ -190,7 +191,7 @@
<define name = "RADIO_CONTROL_MODE" value = "RADIO_CONTROL_AUX1"/>
<define name = "RADIO_CONTROL_KILL_SWITCH" value = "RADIO_CONTROL_GEAR"/>
<define name = "HELI"/>
<!-- <define name = "KILL_MOTORS" /> -->
<define name = "KILL_MOTORS" />
<!-- if we want a secondary spektrum reciever we need to set the board to be
lisa_l_1.1 and rewired accordingly then set the following.
<define name = "RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value = "UART5"/>