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[conf] update some airframe examples to GUIDANCE_V_ADAPT changes

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This commit is contained in:
Felix Ruess
2013-08-13 14:22:30 +02:00
parent fcc3b270ed
commit b96785b36f
9 changed files with 16 additions and 16 deletions
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conf/airframes/ardrone2_raw.xml
+1 -2
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@@ -203,9 +203,8 @@
<define name="RC_CLIMB_COEF" value="163" /> <define name="RC_CLIMB_COEF" value="163" />
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% --> <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value="160000"/> <define name="RC_CLIMB_DEAD_BAND" value="160000"/>
<!-- NOMINAL_HOVER_THROTTLE sets a fixed value instead of the adaptive
estimation -->
<define name="NOMINAL_HOVER_THROTTLE" value="0.4"/> <define name="NOMINAL_HOVER_THROTTLE" value="0.4"/>
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
</section> </section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
conf/airframes/ardrone2_sdk.xml
+1 -2
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@@ -84,9 +84,8 @@
<define name="RC_CLIMB_COEF" value="163" /> <define name="RC_CLIMB_COEF" value="163" />
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% --> <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value="160000" /> <define name="RC_CLIMB_DEAD_BAND" value="160000" />
<!-- NOMINAL_HOVER_THROTTLE sets a fixed value instead of the adaptive
estimation -->
<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/> <define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
</section> </section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
conf/airframes/examples/lisa_asctec.xml
+1
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@@ -163,6 +163,7 @@
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% --> <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/> <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.4"/> <define name="NOMINAL_HOVER_THROTTLE" value="0.4"/>
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
</section> </section>
conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
+2 -2
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@@ -186,8 +186,8 @@
<define name="RC_CLIMB_COEF" value ="163"/> <define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% --> <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/> <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<!-- NOMINAL_HOVER_THROTTLE sets a fixed value instead of the adaptive estimation --> <define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
<!--define name="NOMINAL_HOVER_THROTTLE" value="0.5"/--> <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section> </section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
conf/airframes/examples/quadrotor_lisa_m_mkk.xml
+2 -2
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@@ -180,8 +180,8 @@
<define name="RC_CLIMB_COEF" value ="163"/> <define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% --> <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/> <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<!-- NOMINAL_HOVER_THROTTLE sets a fixed value instead of the adaptive estimation --> <define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
<!--define name="NOMINAL_HOVER_THROTTLE" value="0.5"/--> <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section> </section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
conf/airframes/examples/quadrotor_mlkf.xml
+2 -2
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@@ -190,8 +190,8 @@
<define name="RC_CLIMB_COEF" value ="163"/> <define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% --> <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/> <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<!-- NOMINAL_HOVER_THROTTLE sets a fixed value instead of the adaptive estimation --> <define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
<!--define name="NOMINAL_HOVER_THROTTLE" value="0.5"/--> <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section> </section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
conf/airframes/examples/quadshot_asp21_spektrum.xml
+2 -1
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@@ -199,7 +199,8 @@ More information on the Quadshot can be found at transition-robotics.com -->
<define name="HOVER_KI" value="72"/> <define name="HOVER_KI" value="72"/>
<define name="RC_CLIMB_COEF" value ="163"/> <define name="RC_CLIMB_COEF" value ="163"/>
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/> <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.4"/> <define name="NOMINAL_HOVER_THROTTLE" value ="0.4"/>
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
</section> </section>
<section name="AHRS" prefix="AHRS_"> <section name="AHRS" prefix="AHRS_">
conf/airframes/examples/stm32f4_discovery_test.xml
-1
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@@ -186,7 +186,6 @@
<define name="RC_CLIMB_COEF" value ="163"/> <define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% --> <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/> <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<!-- NOMINAL_HOVER_THROTTLE sets a fixed value instead of the adaptive estimation -->
<!--define name="NOMINAL_HOVER_THROTTLE" value="0.5"/--> <!--define name="NOMINAL_HOVER_THROTTLE" value="0.5"/-->
</section> </section>
conf/airframes/fraser_lisa_m_rotorcraft.xml
+2 -1
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@@ -224,7 +224,8 @@
<define name="RC_CLIMB_COEF" value ="163"/> <define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% --> <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/> <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<!--define name="NOMINAL_HOVER_THROTTLE" value="0.38"/--> <define name="NOMINAL_HOVER_THROTTLE" value="0.38"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section> </section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">