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XSens gps-imu arm setting + declination + pulsepersecond + IMU telemetry

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This commit is contained in:
Christophe De Wagter
2011-05-13 12:41:52 +02:00
parent 76ffcf4298
commit afba2ad350
7 changed files with 153 additions and 38 deletions
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conf/airframes/TU_Delft/skywalker.xml
+24 -11
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@@ -19,7 +19,7 @@
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="BRAKE" failsafe_value="0"/> <!-- both elerons up as butterfly brake ? -->
<axis name="BRAKE" failsafe_value="9600"/> <!-- both elerons up as butterfly brake ? -->
</commands>
<rc_commands>
@@ -43,7 +43,9 @@
<define name="BRAKE_AILEVON" value="-0.7f"/>
<define name="BRAKE_PITCH" value="0.1f"/>
<define name="MAX_BRAKE_RATE" value="150"/>
<define name="MAX_BRAKE_RATE" value="130"/>
<define name="RUDDER_OF_AILERON" value="0.3"/>
<define name="LIMIT(X,XL,XH)" value="( ((X)>(XH)) ? (XH) : ( ((X)>(XL)) ? (X) : (XL) ) )"/>
@@ -67,13 +69,26 @@
<set servo="AILERON_LEFT" value="($aileron_up * $leftturn) + ($aileron_down * $rightturn) - $brake_value*(BRAKE_AILEVON) - (MAX_PPRZ * AILERON_NEUTRAL)"/>
<set servo="AILERON_RIGHT" value="($aileron_up * $rightturn) + ($aileron_down * $leftturn) + $brake_value*(BRAKE_AILEVON) + (MAX_PPRZ *AILERON_NEUTRAL)"/>
<set servo="RUDDER" value="@YAW + @ROLL * 0.3"/>
<set servo="RUDDER" value="@YAW + @ROLL * RUDDER_OF_AILERON"/>
<set servo="THROTTLE" value="@THROTTLE"/>
<!-- Pitch with Brake-Trim Function -->
<set servo="ELEVATOR" value="@PITCH * PITCH_GAIN - BRAKE_PITCH * $brake_value"/>
</command_laws>
<!-- Local magnetic field -->
<section name="AHRS" prefix="AHRS_" >
<define name="H_X" value="0.51562740288882" />
<define name="H_Y" value="-0.05707735220832" />
<define name="H_Z" value="0.85490967783446" />
</section>
<section name="XSENS">
<define name="GPS_IMU_LEVER_ARM_X" value="-0.285f" />
<define name="GPS_IMU_LEVER_ARM_Y" value="0.0f" />
<define name="GPS_IMU_LEVER_ARM_Z" value="0.0f" />
</section>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="RadOfDeg(75)"/>
<define name="MAX_PITCH" value="RadOfDeg(45)"/>
@@ -93,7 +108,7 @@
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="14." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/>
<define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
@@ -148,18 +163,16 @@
<define name="ROLL_RATE_GAIN" value="-820.312011719"/>
</section>
<!--
<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="20"/>
<define name="BLEND_END" value="10"/>
<define name="BLEND_START" value="30"/>
<define name="BLEND_END" value="15"/>
<define name="CLIMB_THROTTLE" value="1.00"/>
<define name="CLIMB_PITCH" value="0.3"/>
<define name="DESCENT_THROTTLE" value="0.1"/>
<define name="DESCENT_PITCH" value="-0.25"/>
<define name="CLIMB_PITCH" value="RadOfDeg(30)"/>
<define name="DESCENT_THROTTLE" value="0.0"/>
<define name="DESCENT_PITCH" value="RadOfDeg(-15)"/>
<define name="CLIMB_NAV_RATIO" value="0.8"/>
<define name="DESCENT_NAV_RATIO" value="1.0"/>
</section>
-->
<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DEFAULT_THROTTLE" value="0.35" unit="%"/>