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https://github.com/paparazzi/paparazzi.git
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[conf] update Twinstar_energyadaptive example
This commit is contained in:
Felix Ruess
@@ -14,7 +14,6 @@ twog_1.0 + aspirin + ETS baro + ETS speed
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<firmware name="fixedwing">
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<target name="sim" board="pc"/>
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<target name="ap" board="twog_1.0">
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<configure name="PERIODIC_FREQUENCY" value="120"/>
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<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
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<configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
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@@ -24,19 +23,19 @@ twog_1.0 + aspirin + ETS baro + ETS speed
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<define name="USE_BARO_ETS"/>
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</target>
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<define name="USE_AIRSPEED"/>
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<define name="AGR_CLIMB"/>
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<define name="STRONG_WIND"/>
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<define name="WIND_INFO"/>
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<define name="WIND_INFO_RET"/>
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<define name="USE_AIRSPEED"/>
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<define name="USE_BAROMETER"/>
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<define name="AGR_CLIMB"/>
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<define name="STRONG_WIND"/>
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<define name="WIND_INFO"/>
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<define name="WIND_INFO_RET"/>
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<subsystem name="radio_control" type="ppm"/> <!-- Radio -->
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<subsystem name="gps" type="ublox"/> <!-- GPS -->
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<subsystem name="radio_control" type="ppm"/> <!-- Radio -->
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<subsystem name="gps" type="ublox"/> <!-- GPS -->
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<subsystem name="telemetry" type="transparent"/> <!-- Communication -->
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<subsystem name="imu" type="aspirin_i2c"/> <!-- IMU -->
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<subsystem name="imu" type="aspirin_i2c_v1.5"/> <!-- IMU -->
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<subsystem name="ahrs" type="int_cmpl_quat"/>
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<subsystem name="ins" type="float_alt"/>
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<subsystem name="ins" type="alt_float"/>
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<subsystem name="control" type="energyadaptive"/>
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<subsystem name="navigation" type="extra"/>
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</firmware>
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@@ -52,6 +51,9 @@ twog_1.0 + aspirin + ETS baro + ETS speed
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<define name="BARO_ETS_SCALE" value="0.3"/>
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<define name="BARO_ETS_TELEMETRY"/>
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</load>
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<load name="baro_board.xml">
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<define name="BARO_ABS_EVENT" value="BaroEtsUpdate"/>
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</load>
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<load name="digital_cam.xml">
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<define name="DC_SHUTTER_LED" value="5"/><!-- led4:aux led5:camsw-->
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</load>
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@@ -63,9 +65,9 @@ twog_1.0 + aspirin + ETS baro + ETS speed
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<!-- <servo name="MOTOR_RIGHT" no="1" min="1000" neutral="1000" max="2000"/> -->
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<servo name="AILERON_LEFT" no="7" min="900" neutral="1300" max="1700"/>
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<servo name="AILERON_RIGHT" no="3" min="1140" neutral="1540" max="1940"/>
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<servo name="ELEVATOR" no="2" min="1700" neutral="1400" max="1000"/>
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<servo name="RUDDER" no="6" min="1810" neutral="1410" max="1010"/>
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<servo name="HATCH" no="4" min="1300" neutral="1300" max="800"/>
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<servo name="ELEVATOR" no="2" min="1700" neutral="1400" max="1000"/>
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<servo name="RUDDER" no="6" min="1810" neutral="1410" max="1010"/>
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<servo name="HATCH" no="4" min="1300" neutral="1300" max="800"/>
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</servos>
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<commands>
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@@ -83,15 +85,15 @@ twog_1.0 + aspirin + ETS baro + ETS speed
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<set command="YAW" value="@YAW"/>
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<set command="HATCH" value="@GAIN2"/>
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</rc_commands>
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<section name="MIXER">
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<define name="AILERON_DIFF" value="0.66"/>
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<define name="COMBI_SWITCH" value="1.0"/>
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</section>
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<command_laws>
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<set servo="MOTOR_LEFT" value="@THROTTLE"/>
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<!-- <set servo="MOTOR_RIGHT" value="@THROTTLE"/> -->
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<!-- <set servo="MOTOR_RIGHT" value="@THROTTLE"/> -->
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<set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
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<let var="roll" value="@ROLL"/>
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<set servo="AILERON_LEFT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
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@@ -101,8 +103,8 @@ twog_1.0 + aspirin + ETS baro + ETS speed
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</command_laws>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="RadOfDeg(60)"/>
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<define name="MAX_PITCH" value="RadOfDeg(40)"/>
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<define name="MAX_ROLL" value="40" unit="deg"/>
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<define name="MAX_PITCH" value="40" unit="deg"/>
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</section>
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<section name="TRIM" prefix="COMMAND_">
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@@ -120,54 +122,24 @@ twog_1.0 + aspirin + ETS baro + ETS speed
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</section>
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<section name="INS" prefix="INS_">
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<define name="BARO_SENS" value="0.3"/>
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<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
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</section>
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<!-- <include href="conf/airframes/Tobias_imu_aspirin_36.xml"/> --> <!-- IMU -->
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<section name="IMU" prefix="IMU_">
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<define name="GYRO_P_NEUTRAL" value="-110"/> <!--"-10"--> <!--changeme!!!-->
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<define name="GYRO_Q_NEUTRAL" value="90" /> <!--"-48"--> <!--changeme!!!-->
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<define name="GYRO_R_NEUTRAL" value="-35" /> <!--"-109"--> <!--changeme!!!-->
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<define name="GYRO_P_SENS" value="4.412" integer="16"/>
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<define name="GYRO_Q_SENS" value="4.412" integer="16"/>
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<define name="GYRO_R_SENS" value="4.412" integer="16"/>
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<define name="GYRO_PQ_SENS" value="0.0" integer="16"/>
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<define name="GYRO_PR_SENS" value="0.0" integer="16"/>
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<define name="GYRO_QR_SENS" value="0.0" integer="16"/>
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<define name="MAG_X_NEUTRAL" value="0"/>
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<define name="MAG_Y_NEUTRAL" value="0"/>
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<define name="MAG_Z_NEUTRAL" value="0"/>
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<define name="MAG_X_SENS" value="1." integer="16"/>
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<define name="MAG_Y_SENS" value="1." integer="16"/>
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<define name="MAG_Z_SENS" value="1." integer="16"/>
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<define name="MAG_XY_SENS" value="0.0" integer="16"/>
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<define name="MAG_XZ_SENS" value="0.0" integer="16"/>
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<define name="MAG_YZ_SENS" value="0.0" integer="16"/>
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<define name="ACCEL_X_NEUTRAL" value="-1"/>
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<define name="ACCEL_Y_NEUTRAL" value="1"/>
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<define name="ACCEL_Z_NEUTRAL" value="29"/>
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<define name="ACCEL_X_SENS" value="38.4772001528" integer="16"/>
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<define name="ACCEL_Y_SENS" value="38.4353174937" integer="16"/>
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<define name="ACCEL_Z_SENS" value="39.0784871813" integer="16"/>
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<define name="ACCEL_XY_SENS" value="0.0" integer="16"/>
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<define name="ACCEL_XZ_SENS" value="0.0" integer="16"/>
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<define name="ACCEL_YZ_SENS" value="0.0" integer="16"/>
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<define name="MAG_X_NEUTRAL" value="0"/>
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<define name="MAG_Y_NEUTRAL" value="0"/>
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<define name="MAG_Z_NEUTRAL" value="0"/>
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<define name="MAG_X_SENS" value="1." integer="16"/>
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<define name="MAG_Y_SENS" value="1." integer="16"/>
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<define name="MAG_Z_SENS" value="1." integer="16"/>
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<define name="MAG_XY_SENS" value="0.0" integer="16"/>
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<define name="MAG_XZ_SENS" value="0.0" integer="16"/>
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<define name="MAG_YZ_SENS" value="0.0" integer="16"/>
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<define name="GYRO_P_SIGN" value="1"/>
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<define name="GYRO_Q_SIGN" value="1"/>
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<define name="GYRO_R_SIGN" value="1"/>
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<define name="ACCEL_X_SIGN" value="1"/>
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<define name="ACCEL_Y_SIGN" value="1"/>
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<define name="ACCEL_Z_SIGN" value="1"/>
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<define name="MAG_X_SIGN" value="1"/>
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<define name="MAG_Y_SIGN" value="1"/>
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<define name="MAG_Z_SIGN" value="1"/>
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<define name="BODY_TO_IMU_PHI" value="RadOfDeg(-2)"/>
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<define name="BODY_TO_IMU_THETA" value="RadOfDeg(2)"/>
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<define name="BODY_TO_IMU_PHI" value="-2" unit="deg"/>
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<define name="BODY_TO_IMU_THETA" value="2" unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="0"/>
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</section>
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@@ -230,8 +202,8 @@ twog_1.0 + aspirin + ETS baro + ETS speed
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<define name="ENERGY_DIFF_IGAIN" value="0."/>
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<define name="AUTO_GROUNDSPEED_SETPOINT" value="6.0" unit="m/s"/>
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<define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/>
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<define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>
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<define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/>
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<define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>
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<define name="THROTTLE_SLEW_LIMITER" value="1" unit="s"/>
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</section>
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@@ -283,8 +255,8 @@ twog_1.0 + aspirin + ETS baro + ETS speed
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
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<define name="DEFAULT_ROLL" value="RadOfDeg(15)" unit="rad"/>
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<define name="DEFAULT_PITCH" value="RadOfDeg(0)" unit="rad"/>
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<define name="DEFAULT_ROLL" value="15" unit="deg"/>
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<define name="DEFAULT_PITCH" value="0" unit="deg"/>
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<define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
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</section>
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