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commit mini quad related last changes

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This commit is contained in:
Gautier Hattenberger
2010-07-01 13:08:47 +00:00
parent efb18dc099
commit af2db553f1
7 changed files with 56 additions and 17 deletions
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conf/airframes/ENAC/quadrotor/mini.xml
+15 -7
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@@ -1,4 +1,10 @@
<airframe name="BOOZ2_A4">
<airframe name="NFF">
<modules main_freq="512">
<load name="booz_drop.xml"/>
<load name="booz_cam.xml"/>
<!--load name="sonar_maxbotix_booz.xml"/-->
</modules>
<servos min="0" neutral="0" max="0xff">
<servo name="PITCH" no="0" min="0" neutral="0" max="255"/>
@@ -173,13 +179,14 @@
<section name="CAM" prefix="BOOZ_CAM_">
<define name="TILT_NEUTRAL" value="1500"/>
<define name="TILT_MIN" value="1000"/>
<define name="TILT_MAX" value="2000"/>
<define name="TILT_ANGLE_MIN" value="RadOfDeg(-85.)" unit="rad"/>
<define name="TILT_ANGLE_MAX" value="RadOfDeg( 30.)" unit="rad"/>
<define name="TILT_MIN" value="1060"/>
<define name="TILT_MAX" value="2250"/>
<define name="TILT_ANGLE_MIN" value="RadOfDeg(-90.)" unit="rad"/>
<define name="TILT_ANGLE_MAX" value="RadOfDeg( 0.)" unit="rad"/>
<define name="PAN_NEUTRAL" value="0"/>
<define name="PAN_MIN" value="0"/>
<define name="PAN_MAX" value="25736"/> <!-- 360 deg (2^12) -->
<!--define name="SetPwm(_v)" value="Booz2SetPwm1Value(_v)"/-->
</section>
@@ -187,6 +194,7 @@
<define name="BOOZ_ANALOG_BARO_THRESHOLD" value="800"/>
<define name="BOOZ2_FACE_REINJ_1" value="1024"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
<define name="BoozDropPwm(_v)" value="Booz2SetPwm1Value(_v)"/>
</section>
<makefile>
@@ -218,9 +226,9 @@ ap.CFLAGS += -DUSE_GPS_ACC4R
ap.CFLAGS += -DB2_GUIDANCE_H_USE_REF
ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3 -DUSE_PWM1
#ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c
ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c
ap.CFLAGS += -DUSE_MODULES