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This commit is contained in:
Antoine Drouin
2009-11-26 14:25:29 +00:00
parent 1d91f8ca12
commit b7cd562462
1 changed files with 28 additions and 15 deletions
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conf/airframes/booz2_a2p.xml
+28 -15
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@@ -33,30 +33,29 @@
<define name="ACCEL_Y_CHAN" value="3"/>
<define name="ACCEL_Z_CHAN" value="4"/>
<define name="ACCEL_X_SENS" value="-2.53973936" integer="16"/>
<define name="ACCEL_Y_SENS" value="-2.58673329" integer="16"/>
<define name="ACCEL_Z_SENS" value="-2.58223257" integer="16"/>
<define name="ACCEL_X_SENS" value="-2.19476868" integer="16"/>
<define name="ACCEL_Y_SENS" value="-2.88368188" integer="16"/>
<define name="ACCEL_Z_SENS" value="-2.57172803" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="32877"/>
<define name="ACCEL_Y_NEUTRAL" value="32415"/>
<define name="ACCEL_Z_NEUTRAL" value="32612"/>
<define name="ACCEL_X_NEUTRAL" value="33160"/>
<define name="ACCEL_Y_NEUTRAL" value="32523"/>
<define name="ACCEL_Z_NEUTRAL" value="32418"/>
<define name="MAG_X_CHAN" value="0"/>
<define name="MAG_Y_CHAN" value="1"/>
<define name="MAG_Z_CHAN" value="2"/>
<define name="MAG_X_SENS" value="4.73914612" integer="16"/>
<define name="MAG_Y_SENS" value="-5.34705586" integer="16"/>
<define name="MAG_Z_SENS" value="-3.57580805" integer="16"/>
<define name="MAG_X_SENS" value="5.00200577" integer="16"/>
<define name="MAG_Y_SENS" value="-4.68598036" integer="16"/>
<define name="MAG_Z_SENS" value="-2.98216964" integer="16"/>
<define name="MAG_X_NEUTRAL" value="-47"/>
<define name="MAG_Y_NEUTRAL" value="24"/>
<define name="MAG_Z_NEUTRAL" value="28"/>
<define name="MAG_X_NEUTRAL" value="-89"/>
<define name="MAG_Y_NEUTRAL" value="20"/>
<define name="MAG_Z_NEUTRAL" value="-30"/>
<define name="BODY_TO_IMU_PHI" value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))"/>
<define name="BODY_TO_IMU_THETA" value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))"/>
<define name="BODY_TO_IMU_PSI" value="ANGLE_BFP_OF_REAL(RadOfDeg(-45.))"/>
<define name="BODY_TO_IMU_PSI" value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))"/>
</section>
@@ -98,6 +97,7 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<!--
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
@@ -109,6 +109,19 @@
<define name="PSI_PGAIN" value="-380"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-75"/>
-->
<define name="PHI_PGAIN" value="-2000"/>
<define name="PHI_DGAIN" value="-400"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="-2000"/>
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="PSI_PGAIN" value="-1000"/>
<define name="PSI_DGAIN" value="-350"/>
<define name="PSI_IGAIN" value="-10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
@@ -153,7 +166,7 @@
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="BATTERY_SENS" value="0.25" integer="16"/>
<define name="BATTERY_SENS" value="0.19" integer="16"/>
<!-- <define name="BATTERY_SENS" value="1" integer="16"/>-->
</section>