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update funjet2

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This commit is contained in:
Gautier Hattenberger
2010-10-19 13:00:18 +00:00
parent f334ef46db
commit b8afafd1f9
1 changed files with 20 additions and 13 deletions
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conf/airframes/ENAC/fixed-wing/funjet2.xml
+20 -13
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@@ -18,6 +18,14 @@
<param name="LIGHT_LED_NAV" value="3"/> <param name="LIGHT_LED_NAV" value="3"/>
</load> </load>
<load name="infrared_i2c.xml"/> <load name="infrared_i2c.xml"/>
<load name="pbn.xml"/>
<!--load name="airspeed_adc.xml">
<define name="ADC_AIRSPEED" value="ADC_4"/>
<flag name="AIRSPEED_SCALE" value="1"/>
<flag name="AIRSPEED_BIAS" value="0"/>
</load-->
<!--load name="airspeed_ets.xml"/>
<load name="baro_ets.xml"/-->
</modules> </modules>
<firmware name="fixedwing"> <firmware name="fixedwing">
@@ -45,7 +53,6 @@
<!-- Actuators are automatically chosen according to board--> <!-- Actuators are automatically chosen according to board-->
<subsystem name="control"/> <subsystem name="control"/>
<!-- Sensors --> <!-- Sensors -->
<!--subsystem name="attitude" type="infrared"/-->
<subsystem name="gps" type="ublox_lea5h"/> <subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="gyro" type="roll"> <subsystem name="gyro" type="roll">
<param name="ADC_GYRO_ROLL" value="ADC_5"/> <param name="ADC_GYRO_ROLL" value="ADC_5"/>
@@ -68,7 +75,7 @@
<servos> <servos>
<servo name="MOTOR" no="0" min="1040" neutral="1040" max="2000"/> <servo name="MOTOR" no="0" min="1040" neutral="1040" max="2000"/>
<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1500" max="1050"/> <servo name="AILEVON_LEFT" no="2" min="1900" neutral="1500" max="1050"/>
<servo name="AILEVON_RIGHT" no="6" min="1120" neutral="1500" max="1980"/> <servo name="AILEVON_RIGHT" no="6" min="1120" neutral="1540" max="1980"/>
</servos> </servos>
<commands> <commands>
@@ -116,8 +123,8 @@
<define name="IR2_SIGN" value="1"/> <define name="IR2_SIGN" value="1"/>
<define name="TOP_SIGN" value="1"/> <define name="TOP_SIGN" value="1"/>
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/> <define name="ROLL_NEUTRAL_DEFAULT" value="2." unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="7.73493003845" unit="deg"/> <define name="PITCH_NEUTRAL_DEFAULT" value="2." unit="deg"/>
</section> </section>
<section name="GYRO" prefix="GYRO_"> <section name="GYRO" prefix="GYRO_">
@@ -139,7 +146,7 @@
<define name="CARROT" value="5." unit="s"/> <define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/> <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/> <define name="CONTROL_RATE" value="60" unit="Hz"/>
<define name="ALT_KALMAN_ENABLED" value="FALSE"/> <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="TRIGGER_DELAY" value="1."/> <define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/> <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
@@ -154,15 +161,15 @@
<define name="ALTITUDE_MAX_CLIMB" value="3."/> <define name="ALTITUDE_MAX_CLIMB" value="3."/>
<!-- auto throttle inner loop --> <!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.600000023842"/> <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/> <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/> <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/> <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/> <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.194000005722" unit="%/(m/s)"/> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/> <define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.04"/> <define name="AUTO_THROTTLE_IGAIN" value="0.04"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.109999999404"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
<!-- auto pitch inner loop --> <!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.03"/> <define name="AUTO_PITCH_PGAIN" value="-0.03"/>
@@ -175,19 +182,19 @@
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.20000004768"/> <define name="COURSE_PGAIN" value="-1."/>
<define name="ROLL_MAX_SETPOINT" value="0.8" unit="radians"/> <define name="ROLL_MAX_SETPOINT" value="0.8" unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/> <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/> <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
<define name="ROLL_ATTITUDE_GAIN" value="-8000."/> <define name="ROLL_ATTITUDE_GAIN" value="-9000."/>
<define name="ROLL_RATE_GAIN" value="-1000."/> <define name="ROLL_RATE_GAIN" value="-3000."/>
<define name="PITCH_PGAIN" value="-20000."/> <define name="PITCH_PGAIN" value="-20000."/>
<define name="PITCH_DGAIN" value="0.4"/> <define name="PITCH_DGAIN" value="0.4"/>
<define name="AILERON_OF_THROTTLE" value="0.0"/> <define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="ELEVATOR_OF_ROLL" value="1000"/> <define name="ELEVATOR_OF_ROLL" value="1400"/>
</section> </section>
<section name="NAV"> <section name="NAV">
@@ -215,7 +222,7 @@
</section> </section>
<section name="SIMU"> <section name="SIMU">
<define name="ROLL_RESPONSE_FACTOR" value="15"/> <define name="ROLL_RESPONSE_FACTOR" value="10"/>
<define name="MAX_ROLL_DOT" value="20" unit="rad/s"/> <define name="MAX_ROLL_DOT" value="20" unit="rad/s"/>
</section> </section>