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This commit is contained in:
Antoine Drouin
2008-09-03 14:58:46 +00:00
parent 2e064e645f
commit babc541ac1
4 changed files with 25 additions and 23 deletions
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conf/airframes/booz2.xml
+9 -9
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@@ -116,13 +116,13 @@
<define name="MAG_Z_CHAN" value="2"/>
<define name="MAG_X_NEUTRAL" value="2035"/>
<define name="MAG_Y_NEUTRAL" value="2121"/>
<define name="MAG_Z_NEUTRAL" value="1943"/>
<define name="MAG_X_NEUTRAL" value="2038"/>
<define name="MAG_Y_NEUTRAL" value="1945"/>
<define name="MAG_Z_NEUTRAL" value="1957"/>
<define name="MAG_X_SENS" value="-446."/>
<define name="MAG_Y_SENS" value=" 456."/>
<define name="MAG_Z_SENS" value="-474."/>
<define name="MAG_X_SENS" value="-401."/>
<define name="MAG_Y_SENS" value=" 388."/>
<define name="MAG_Z_SENS" value="-414."/>
</section>
@@ -152,10 +152,10 @@
<define name="PHI_THETA_DDGAIN" value="0"/>
<define name="PHI_THETA_IGAIN" value="-100"/>
<define name="PSI_PGAIN" value="-300"/>
<define name="PSI_DGAIN" value="-200"/>
<define name="PSI_PGAIN" value="-380"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_DDGAIN" value="0"/>
<define name="PSI_IGAIN" value="-100"/>
<define name="PSI_IGAIN" value="-75"/>
</section>
conf/autopilot/conf_booz2.makefile
+1 -1
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@@ -83,7 +83,7 @@ ap.ARCH = arm7tdmi
ap.TARGET = ap
ap.TARGETDIR = ap
ap.CFLAGS += -DKILL_MOTORS
#ap.CFLAGS += -DKILL_MOTORS
ap.CFLAGS += -DCONFIG=\"booz2_board.h\" -I$(BOOZ_ARCH) -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH)
ap.srcs += $(BOOZ_PRIV)/booz2_main.c
conf/messages.xml
+11 -9
View File
@@ -480,15 +480,17 @@
<message name="BOOZ_STATUS" ID="231">
<field name="link_imu_nb_err" type="uint32"/>
<field name="blmc_nb_err" type="uint8"/>
<field name="imu_status" type="uint8" values="NO_LINK|UNINIT|RUNNING|CRASHED"/>
<field name="rc_status" type="uint8" values="OK|LOST|REALLY_LOST"/>
<field name="gps_status" type="uint8" values="OK|LOST|REALLY_LOST"/>
<field name="ap_mode" type="uint8" values=""/>
<field name="ap_h_mode" type="uint8" values=""/>
<field name="ap_v_mode" type="uint8" values=""/>
<field name="vsupply" type="uint8" unit="decivolt"/>
<field name="cpu_time" type="uint16" unit="s"></field>
<field name="blmc_nb_err" type="uint8"/>
<field name="imu_status" type="uint8" values="NO_LINK|UNINIT|RUNNING|CRASHED"/>
<field name="rc_status" type="uint8" values="OK|LOST|REALLY_LOST"/>
<field name="gps_status" type="uint8" values="OK|LOST|REALLY_LOST"/>
<field name="ap_mode" type="uint8" values=""/>
<field name="ap_in_flight" type="uint8" values=""/>
<field name="ap_motors_on" type="uint8" values=""/>
<field name="ap_h_mode" type="uint8" values=""/>
<field name="ap_v_mode" type="uint8" values=""/>
<field name="vsupply" type="uint8" unit="decivolt"/>
<field name="cpu_time" type="uint16" unit="s"></field>
</message>
<message name="BOOZ_DEBUG_BAR" ID="232">
sw/in_progress/inertial/scilab/calibrate_mag.sce
+4 -4
View File
@@ -1,14 +1,14 @@
clear();
exec("calibration_utils.sci");
[raw_mag, raw_accel] = read_log("log_calib_mag_3.dat");
[raw_mag, raw_accel] = read_log("log_calib_mag_4.dat");
//[fraw_mag] = filter_noise(raw_mag,15,300);
fraw_mag = raw_mag;
n0 = [ 1950; 2000; 2150];
g0 = [ 2; 2; 2];
n0 = [ 2000; 2000; 2000];
g0 = [ 4; 4; 4];
[scaled_mag] = scale_sensor(fraw_mag, g0, n0);
[scaled_module] = compute_mod(scaled_mag);
@@ -37,7 +37,7 @@ subplot(4,1,1);
plot2d(1:nc, raw_mag(1,:), 1);
plot2d(1:nc, raw_mag(2,:), 2);
plot2d(1:nc, raw_mag(3,:), 3);
xtitle('raw senors');
xtitle('raw sensors');
subplot(4,1,2);
[nl, nc] = size(fraw_mag);