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[conf] update Twinstar_energyadaptive example

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This commit is contained in:
Felix Ruess
2013-02-08 18:38:08 +01:00
parent 4629670067
commit a774cb5329
1 changed files with 37 additions and 65 deletions
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conf/airframes/examples/Twinstar_energyadaptive.xml
+13 -41
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@@ -14,7 +14,6 @@ twog_1.0 + aspirin + ETS baro + ETS speed
<firmware name="fixedwing"> <firmware name="fixedwing">
<target name="sim" board="pc"/> <target name="sim" board="pc"/>
<target name="ap" board="twog_1.0"> <target name="ap" board="twog_1.0">
<configure name="PERIODIC_FREQUENCY" value="120"/> <configure name="PERIODIC_FREQUENCY" value="120"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/> <configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="100"/> <configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
@@ -25,18 +24,18 @@ twog_1.0 + aspirin + ETS baro + ETS speed
</target> </target>
<define name="USE_AIRSPEED"/> <define name="USE_AIRSPEED"/>
<define name="USE_BAROMETER"/>
<define name="AGR_CLIMB"/> <define name="AGR_CLIMB"/>
<define name="STRONG_WIND"/> <define name="STRONG_WIND"/>
<define name="WIND_INFO"/> <define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/> <define name="WIND_INFO_RET"/>
<subsystem name="radio_control" type="ppm"/> <!-- Radio --> <subsystem name="radio_control" type="ppm"/> <!-- Radio -->
<subsystem name="gps" type="ublox"/> <!-- GPS --> <subsystem name="gps" type="ublox"/> <!-- GPS -->
<subsystem name="telemetry" type="transparent"/> <!-- Communication --> <subsystem name="telemetry" type="transparent"/> <!-- Communication -->
<subsystem name="imu" type="aspirin_i2c"/> <!-- IMU --> <subsystem name="imu" type="aspirin_i2c_v1.5"/> <!-- IMU -->
<subsystem name="ahrs" type="int_cmpl_quat"/> <subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins" type="float_alt"/> <subsystem name="ins" type="alt_float"/>
<subsystem name="control" type="energyadaptive"/> <subsystem name="control" type="energyadaptive"/>
<subsystem name="navigation" type="extra"/> <subsystem name="navigation" type="extra"/>
</firmware> </firmware>
@@ -52,6 +51,9 @@ twog_1.0 + aspirin + ETS baro + ETS speed
<define name="BARO_ETS_SCALE" value="0.3"/> <define name="BARO_ETS_SCALE" value="0.3"/>
<define name="BARO_ETS_TELEMETRY"/> <define name="BARO_ETS_TELEMETRY"/>
</load> </load>
<load name="baro_board.xml">
<define name="BARO_ABS_EVENT" value="BaroEtsUpdate"/>
</load>
<load name="digital_cam.xml"> <load name="digital_cam.xml">
<define name="DC_SHUTTER_LED" value="5"/><!-- led4:aux led5:camsw--> <define name="DC_SHUTTER_LED" value="5"/><!-- led4:aux led5:camsw-->
</load> </load>
@@ -101,8 +103,8 @@ twog_1.0 + aspirin + ETS baro + ETS speed
</command_laws> </command_laws>
<section name="AUTO1" prefix="AUTO1_"> <section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="RadOfDeg(60)"/> <define name="MAX_ROLL" value="40" unit="deg"/>
<define name="MAX_PITCH" value="RadOfDeg(40)"/> <define name="MAX_PITCH" value="40" unit="deg"/>
</section> </section>
<section name="TRIM" prefix="COMMAND_"> <section name="TRIM" prefix="COMMAND_">
@@ -120,32 +122,12 @@ twog_1.0 + aspirin + ETS baro + ETS speed
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="0.3"/>
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/> <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/> <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
</section> </section>
<!-- <include href="conf/airframes/Tobias_imu_aspirin_36.xml"/> --> <!-- IMU -->
<section name="IMU" prefix="IMU_"> <section name="IMU" prefix="IMU_">
<define name="GYRO_P_NEUTRAL" value="-110"/> <!--"-10"--> <!--changeme!!!-->
<define name="GYRO_Q_NEUTRAL" value="90" /> <!--"-48"--> <!--changeme!!!-->
<define name="GYRO_R_NEUTRAL" value="-35" /> <!--"-109"--> <!--changeme!!!-->
<define name="GYRO_P_SENS" value="4.412" integer="16"/>
<define name="GYRO_Q_SENS" value="4.412" integer="16"/>
<define name="GYRO_R_SENS" value="4.412" integer="16"/>
<define name="GYRO_PQ_SENS" value="0.0" integer="16"/>
<define name="GYRO_PR_SENS" value="0.0" integer="16"/>
<define name="GYRO_QR_SENS" value="0.0" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="-1"/>
<define name="ACCEL_Y_NEUTRAL" value="1"/>
<define name="ACCEL_Z_NEUTRAL" value="29"/>
<define name="ACCEL_X_SENS" value="38.4772001528" integer="16"/>
<define name="ACCEL_Y_SENS" value="38.4353174937" integer="16"/>
<define name="ACCEL_Z_SENS" value="39.0784871813" integer="16"/>
<define name="ACCEL_XY_SENS" value="0.0" integer="16"/>
<define name="ACCEL_XZ_SENS" value="0.0" integer="16"/>
<define name="ACCEL_YZ_SENS" value="0.0" integer="16"/>
<define name="MAG_X_NEUTRAL" value="0"/> <define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/> <define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/> <define name="MAG_Z_NEUTRAL" value="0"/>
@@ -156,18 +138,8 @@ twog_1.0 + aspirin + ETS baro + ETS speed
<define name="MAG_XZ_SENS" value="0.0" integer="16"/> <define name="MAG_XZ_SENS" value="0.0" integer="16"/>
<define name="MAG_YZ_SENS" value="0.0" integer="16"/> <define name="MAG_YZ_SENS" value="0.0" integer="16"/>
<define name="GYRO_P_SIGN" value="1"/> <define name="BODY_TO_IMU_PHI" value="-2" unit="deg"/>
<define name="GYRO_Q_SIGN" value="1"/> <define name="BODY_TO_IMU_THETA" value="2" unit="deg"/>
<define name="GYRO_R_SIGN" value="1"/>
<define name="ACCEL_X_SIGN" value="1"/>
<define name="ACCEL_Y_SIGN" value="1"/>
<define name="ACCEL_Z_SIGN" value="1"/>
<define name="MAG_X_SIGN" value="1"/>
<define name="MAG_Y_SIGN" value="1"/>
<define name="MAG_Z_SIGN" value="1"/>
<define name="BODY_TO_IMU_PHI" value="RadOfDeg(-2)"/>
<define name="BODY_TO_IMU_THETA" value="RadOfDeg(2)"/>
<define name="BODY_TO_IMU_PSI" value="0"/> <define name="BODY_TO_IMU_PSI" value="0"/>
</section> </section>
@@ -283,8 +255,8 @@ twog_1.0 + aspirin + ETS baro + ETS speed
<section name="FAILSAFE" prefix="FAILSAFE_"> <section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/> <define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/> <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
<define name="DEFAULT_ROLL" value="RadOfDeg(15)" unit="rad"/> <define name="DEFAULT_ROLL" value="15" unit="deg"/>
<define name="DEFAULT_PITCH" value="RadOfDeg(0)" unit="rad"/> <define name="DEFAULT_PITCH" value="0" unit="deg"/>
<define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/> <define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
</section> </section>