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misc comments added

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This commit is contained in:
Pascal Brisset
2008-03-16 14:01:41 +00:00
parent 2f1e82fc06
commit ae1c7f00bc
1 changed files with 14 additions and 36 deletions
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conf/airframes/twinstar6.xml
+14 -36
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@@ -1,10 +1,15 @@
<!DOCTYPE airframe SYSTEM "airframe.dtd">
<!-- Twinstar II Multiplex (http://www.multiplex-rc.de/)
Classix board (http://paparazzi.enac.fr/wiki/index.php/Classix)
Aligned infrared sensor
Digital still camera
-->
<airframe name="Twinstar 6">
<servos>
<!-- Alimentations séparées pour les servos 0,1,2,3 et 4,5,6,7 par les becs
des 2 variateurs -->
<!-- Splitted power supplies for servos 0,1,2,3 and 4,5,6,7 from motor controller's +5V -->
<!-- Servo aileron gauche = rouge -->
<servo name="AILERON_LEFT" no="0" min="1000" neutral="1530" max="2000"/>
@@ -87,25 +92,15 @@ des 2 variateurs -->
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.9"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="1."/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_PGAIN" value="6000."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-6000."/>
<define name="PITCH_DGAIN" value="0."/>
<define name="ELEVATOR_OF_ROLL" value="0"/>
<!-- roll rate loop -->
<define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
<define name="ROLL_RATE_SETPOINT_PGAIN" value="-5.5"/>
<define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
<define name="LO_THROTTLE_ROLL_RATE_PGAIN" value="1500."/>
<define name="HI_THROTTLE_ROLL_RATE_PGAIN" value="900."/>
<define name="ROLL_RATE_IGAIN" value="0."/>
<define name="ROLL_RATE_DGAIN" value="0."/>
<define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
</section>
<section name="Digital camera telecommand">
@@ -139,21 +134,10 @@ des 2 variateurs -->
<define name="AUTO_THROTTLE_IGAIN" value="0.25"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.14"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.1"/>
<define name="AUTO_PITCH_IGAIN" value="0.025"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.5"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.5"/>
<define name="THROTTLE_SLEW" value="0.05"/>
<define name="THROTTLE_SLEW" value="0.05"/>
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
</section>
@@ -162,7 +146,7 @@ des 2 variateurs -->
<define name="VOLTAGE_ADC_A" value="0.0156"/>
<define name="VOLTAGE_ADC_B" value="-0.029"/>
<define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
<define name="LOW_BATTERY" value="9.3" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="MISC">
@@ -195,12 +179,6 @@ des 2 variateurs -->
<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
<define name="DESCENT_NAV_RATIO" value="1.0"/>
</section>
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="PPRZ"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section>
<makefile>
include $(PAPARAZZI_SRC)/conf/autopilot/classix.makefile
@@ -228,7 +206,7 @@ fbw.CFLAGS += -DADC -DUSE_AD0
fbw.srcs += $(SRC_ARCH)/adc_hw.c
ap.CFLAGS += -DAP -DCONFIG=\"classix.h\" -DLED -DTIME_LED=2
ap.CFLAGS += -DAP -DRADIO_CONTROL_AUTO1 -DCONFIG=\"classix.h\" -DLED -DTIME_LED=2
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_ap.c main.c
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600
@@ -269,7 +247,7 @@ test.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_tran
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"classix.h\" -DAGR_CLIMB -DLOITER_TRIM -DH_CTL_RATE_LOOP
sim.CFLAGS += -DCONFIG=\"classix.h\" -DAGR_CLIMB -DLOITER_TRIM
#sim.srcs += traffic_info.c
sim.srcs += nav_line.c nav_survey_rectangle.c dc.c
# chemotaxis.c anemotaxis.c discsurvey.c bomb.c nav_survey_rectangle.c