From bb90eea424ef3ec5375e50a7797c0a1dfa6bca3a Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Tue, 13 Jul 2010 16:04:52 +0000
Subject: [PATCH] update airframe file

---
 conf/airframes/booz2_flixr.xml | 335 ++++++++++++++++-----------------
 1 file changed, 164 insertions(+), 171 deletions(-)

diff --git a/conf/airframes/booz2_flixr.xml b/conf/airframes/booz2_flixr.xml
index 11918baaaf..e074b46ba3 100644
--- a/conf/airframes/booz2_flixr.xml
+++ b/conf/airframes/booz2_flixr.xml
@@ -1,115 +1,108 @@
 <airframe name="BOOZ2_F1">
 
-	<modules main_freq="512">
-    		<load name="booz_drop.xml"/>
-    		<!--load name="booz_cam.xml"/-->
-    		<!--load name="sonar_maxbotix_booz.xml"/-->
-  	</modules>
+    <modules main_freq="512">
+        <load name="booz_drop.xml"/>
+        <!--load name="booz_cam.xml"/-->
+        <!--load name="sonar_maxbotix_booz.xml"/-->
+    </modules>
 
-	<servos min="0" neutral="0" max="0xff">
-		<servo name="FRONT" no="0" min="0" neutral="0" max="255" />
-		<servo name="BACK" no="1" min="0" neutral="0" max="255" />
-		<servo name="RIGHT" no="2" min="0" neutral="0" max="255" />
-		<servo name="LEFT" no="3" min="0" neutral="0" max="255" />
-	</servos>
+    <servos min="0" neutral="0" max="0xff">
+        <servo name="FRONT" no="0" min="0" neutral="0" max="255" />
+        <servo name="BACK" no="1" min="0" neutral="0" max="255" />
+        <servo name="RIGHT" no="2" min="0" neutral="0" max="255" />
+        <servo name="LEFT" no="3" min="0" neutral="0" max="255" />
+    </servos>
 
-	<commands>
-		<axis name="PITCH" failsafe_value="0" />
-		<axis name="ROLL" failsafe_value="0" />
-		<axis name="YAW" failsafe_value="0" />
-		<axis name="THRUST" failsafe_value="0" />
-	</commands>
+    <commands>
+        <axis name="PITCH" failsafe_value="0" />
+        <axis name="ROLL" failsafe_value="0" />
+        <axis name="YAW" failsafe_value="0" />
+        <axis name="THRUST" failsafe_value="0" />
+    </commands>
 
-	<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
-		<define name="NB" value="4" />
-		<define name="ADDR" value="{ 0x52, 0x54, 0x58, 0x56 }" />
-	</section>
+    <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
+        <define name="NB" value="4" />
+        <define name="ADDR" value="{ 0x52, 0x54, 0x58, 0x56 }" />
+    </section>
 
-	<section name="SUPERVISION" prefix="SUPERVISION_">
-	  <define name="MIN_MOTOR" value="2" />
-	  <define name="MAX_MOTOR" value="210" />
-	  <define name="TRIM_A" value="0" />
-	  <define name="TRIM_E" value="0" />
-	  <define name="TRIM_R" value="0" />
-	  <define name="NB_MOTOR" value="4" />
+    <section name="SUPERVISION" prefix="SUPERVISION_">
+      <define name="MIN_MOTOR" value="2" />
+      <define name="MAX_MOTOR" value="210" />
+      <define name="TRIM_A" value="0" />
+      <define name="TRIM_E" value="0" />
+      <define name="TRIM_R" value="0" />
+      <define name="NB_MOTOR" value="4" />
       <define name="SCALE" value="256"/>
-	  <define name="ROLL_COEF"   value="{   0,    0, -256,  256}" />
-	  <define name="PITCH_COEF"  value="{ 256, -256,    0,    0}" />
-	  <define name="YAW_COEF"    value="{ 256,  256, -256, -256}" />
+      <define name="ROLL_COEF"   value="{   0,    0, -256,  256}" />
+      <define name="PITCH_COEF"  value="{ 256, -256,    0,    0}" />
+      <define name="YAW_COEF"    value="{ 256,  256, -256, -256}" />
       <define name="THRUST_COEF" value="{ 256,  256,  256,  256}"/>
-	</section>
+    </section>
 
-	<section name="IMU" prefix="IMU_">
-	  <define name="GYRO_P_CHAN" value="1" />
-	  <define name="GYRO_Q_CHAN" value="0" />
-	  <define name="GYRO_R_CHAN" value="2" />
+    <section name="IMU" prefix="IMU_">
+      <define name="GYRO_P_CHAN" value="1" />
+      <define name="GYRO_Q_CHAN" value="0" />
+      <define name="GYRO_R_CHAN" value="2" />
 
-	  <define name="GYRO_P_NEUTRAL" value="32362" />
-	  <define name="GYRO_Q_NEUTRAL" value="32080" />
-	  <define name="GYRO_R_NEUTRAL" value="32096" />
+      <define name="GYRO_P_NEUTRAL" value="32362" />
+      <define name="GYRO_Q_NEUTRAL" value="32080" />
+      <define name="GYRO_R_NEUTRAL" value="32096" />
 
-	  <define name="GYRO_P_SENS" value=" 1.1032765" integer="16" />
-	  <define name="GYRO_Q_SENS" value="-1.1360802599" integer="16" />
-	  <define name="GYRO_R_SENS" value="-1.1249874614" integer="16" />
+      <define name="GYRO_P_SENS" value="1.1032765" integer="16" />
+      <define name="GYRO_Q_SENS" value="1.1360802599" integer="16" />
+      <define name="GYRO_R_SENS" value="1.1249874614" integer="16" />
 
-	  <define name="ACCEL_X_CHAN" value="3" />
-	  <define name="ACCEL_Y_CHAN" value="5" />
-	  <define name="ACCEL_Z_CHAN" value="6" />
+      <define name="ACCEL_X_CHAN" value="3" />
+      <define name="ACCEL_Y_CHAN" value="5" />
+      <define name="ACCEL_Z_CHAN" value="6" />
 
-      <define name="ACCEL_X_SENS" value="-2.45932966" integer="16"/>
-      <define name="ACCEL_Y_SENS" value="-2.45106376" integer="16"/>
-      <define name="ACCEL_Z_SENS" value="-2.47825717" integer="16"/>
+      <define name="ACCEL_X_SENS" value="2.45932966" integer="16"/>
+      <define name="ACCEL_Y_SENS" value="2.45106376" integer="16"/>
+      <define name="ACCEL_Z_SENS" value="2.47825717" integer="16"/>
 
       <define name="ACCEL_X_NEUTRAL" value="31886"/>
       <define name="ACCEL_Y_NEUTRAL" value="32162"/>
       <define name="ACCEL_Z_NEUTRAL" value="32941"/>
 
-	  <define name="MAG_X_CHAN" value="4" />
-	  <define name="MAG_Y_CHAN" value="0" />
-	  <define name="MAG_Z_CHAN" value="2" />
+      <define name="MAG_X_CHAN" value="4" />
+      <define name="MAG_Y_CHAN" value="0" />
+      <define name="MAG_Z_CHAN" value="2" />
 
-<!--
-	  <define name="MAG_X_SENS" value="-3.3915023" integer="16" />
-	  <define name="MAG_Y_SENS" value="3.3855561" integer="16" />
-	  <define name="MAG_Z_SENS" value="-4.50143271" integer="16" />
--->
-	  <define name="MAG_45_HACK" value="1" />
-      <!--define name="MAG_X_SENS" value="-5.14821844457 * sqrt(2)/2" integer="16"/-->
+      <define name="MAG_45_HACK" value="1" />
+      <!--define name="MAG_X_SENS" value="5.14821844457 * sqrt(2)/2" integer="16"/-->
       <!--define name="MAG_Y_SENS" value="5.11810156597 * sqrt(2)/2" integer="16"/-->
-      <define name="MAG_X_SENS" value="-3.640340173" integer="16"/>
+      <define name="MAG_X_SENS" value="3.640340173" integer="16"/>
       <define name="MAG_Y_SENS" value="3.619044324" integer="16"/>
-      <define name="MAG_Z_SENS" value="-5.07618333556" integer="16"/>
+      <define name="MAG_Z_SENS" value="5.07618333556" integer="16"/>
 
+      <define name="MAG_X_SIGN" value="-1" />
+      <define name="MAG_Y_SIGN" value=" 1" />
+      <define name="MAG_Z_SIGN" value="-1" />
 
       <define name="MAG_X_NEUTRAL" value="2059"/>
       <define name="MAG_Y_NEUTRAL" value="1944"/>
       <define name="MAG_Z_NEUTRAL" value="2099"/>
-<!--
-	  <define name="MAG_X_NEUTRAL" value="2054" />
-	  <define name="MAG_Y_NEUTRAL" value="1963" />
-	  <define name="MAG_Z_NEUTRAL" value="2078" />
--->
 
-	  <define name="BODY_TO_IMU_PHI" value="RadOfDeg(0.)" />
-	  <define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)" />
-	  <define name="BODY_TO_IMU_PSI" value="RadOfDeg(0.)" />
-	</section>
+      <define name="BODY_TO_IMU_PHI" value="RadOfDeg(0.)" />
+      <define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)" />
+      <define name="BODY_TO_IMU_PSI" value="RadOfDeg(0.)" />
+    </section>
 
 
-	<section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+    <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
       <!-- setpoints -->
-	  <define name="SP_MAX_P" value="10000" />
-	  <define name="SP_MAX_Q" value="10000" />
-	  <define name="SP_MAX_R" value="10000" />
+      <define name="SP_MAX_P" value="10000" />
+      <define name="SP_MAX_Q" value="10000" />
+      <define name="SP_MAX_R" value="10000" />
       <define name="DEADBAND_P" value="0" />
       <define name="DEADBAND_Q" value="0" />
       <define name="DEADBAND_R" value="200" />
       <define name="REF_TAU" value="4" />
 
       <!-- feedback -->
-	  <define name="GAIN_P" value="-400" />
-	  <define name="GAIN_Q" value="-400" />
-	  <define name="GAIN_R" value="-350" />
+      <define name="GAIN_P" value="-400" />
+      <define name="GAIN_Q" value="-400" />
+      <define name="GAIN_R" value="-350" />
 
       <define name="IGAIN_P" value="-75" />
       <define name="IGAIN_Q" value="-75" />
@@ -119,134 +112,134 @@
       <define name="DDGAIN_P" value="300" />
       <define name="DDGAIN_Q" value="300" />
       <define name="DDGAIN_R" value="300" />
-	</section>
+    </section>
 
 
-	<section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+    <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
 
-		<!-- setpoints -->
-		<define name="SP_MAX_PHI" value="RadOfDeg(45.)" />
-		<define name="SP_MAX_THETA" value="RadOfDeg(45.)" />
-		<define name="SP_MAX_R" value="RadOfDeg(90.)" />
-		<define name="DEADBAND_R" value="250" />
+        <!-- setpoints -->
+        <define name="SP_MAX_PHI" value="RadOfDeg(45.)" />
+        <define name="SP_MAX_THETA" value="RadOfDeg(45.)" />
+        <define name="SP_MAX_R" value="RadOfDeg(90.)" />
+        <define name="DEADBAND_R" value="250" />
 
-		<!-- reference -->
-		<define name="REF_OMEGA_P" value="RadOfDeg(800)" />
-		<define name="REF_ZETA_P" value="0.9" />
-		<define name="REF_MAX_P" value="RadOfDeg(300.)" />
-		<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)" />
+        <!-- reference -->
+        <define name="REF_OMEGA_P" value="RadOfDeg(800)" />
+        <define name="REF_ZETA_P" value="0.9" />
+        <define name="REF_MAX_P" value="RadOfDeg(300.)" />
+        <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)" />
 
-		<define name="REF_OMEGA_Q" value="RadOfDeg(800)" />
-		<define name="REF_ZETA_Q" value="0.9" />
-		<define name="REF_MAX_Q" value="RadOfDeg(300.)" />
-		<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)" />
+        <define name="REF_OMEGA_Q" value="RadOfDeg(800)" />
+        <define name="REF_ZETA_Q" value="0.9" />
+        <define name="REF_MAX_Q" value="RadOfDeg(300.)" />
+        <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)" />
 
-		<define name="REF_OMEGA_R" value="RadOfDeg(500)" />
-		<define name="REF_ZETA_R" value="0.9" />
-		<define name="REF_MAX_R" value="RadOfDeg(180.)" />
-		<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)" />
+        <define name="REF_OMEGA_R" value="RadOfDeg(500)" />
+        <define name="REF_ZETA_R" value="0.9" />
+        <define name="REF_MAX_R" value="RadOfDeg(180.)" />
+        <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)" />
 
-		<!-- feedback -->
-		<define name="PHI_PGAIN" value="-1000" />
-		<define name="PHI_DGAIN" value="-300" />
-		<define name="PHI_IGAIN" value="-100" />
+        <!-- feedback -->
+        <define name="PHI_PGAIN" value="-1000" />
+        <define name="PHI_DGAIN" value="-300" />
+        <define name="PHI_IGAIN" value="-100" />
 
-		<define name="THETA_PGAIN" value="-1000" />
-		<define name="THETA_DGAIN" value="-300" />
-		<define name="THETA_IGAIN" value="-100" />
+        <define name="THETA_PGAIN" value="-1000" />
+        <define name="THETA_DGAIN" value="-300" />
+        <define name="THETA_IGAIN" value="-100" />
 
-		<define name="PSI_PGAIN" value="-500" />
-		<define name="PSI_DGAIN" value="-320" />
-		<define name="PSI_IGAIN" value="-75" />
+        <define name="PSI_PGAIN" value="-500" />
+        <define name="PSI_DGAIN" value="-320" />
+        <define name="PSI_IGAIN" value="-75" />
 
-		<!-- feedforward -->
-		<define name="PHI_DDGAIN" value=" 300" />
-		<define name="THETA_DDGAIN" value=" 300" />
-		<define name="PSI_DDGAIN" value=" 300" />
+        <!-- feedforward -->
+        <define name="PHI_DDGAIN" value=" 300" />
+        <define name="THETA_DDGAIN" value=" 300" />
+        <define name="PSI_DDGAIN" value=" 300" />
 
-	</section>
+    </section>
 
-	<section name="INS" prefix="BOOZ_INS_">
-		<define name="BARO_SENS" value="15." integer="16" />
-	</section>
+    <section name="INS" prefix="BOOZ_INS_">
+        <define name="BARO_SENS" value="15." integer="16" />
+    </section>
 
-	<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
-		<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)" />
-		<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)" />
-		<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)" />
-		<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)" />
-		<define name="MAX_SUM_ERR" value="2000000"/>
-		<define name="HOVER_KP" value="-100"/>
-		<define name="HOVER_KD" value="-60"/>
-		<define name="HOVER_KI" value="-10"/>
-		<!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
-		<define name="RC_CLIMB_COEF" value="163" />
-		<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
-		<define name="RC_CLIMB_DEAD_BAND" value="160000" />
-	</section>
+    <section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
+        <define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)" />
+        <define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)" />
+        <define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)" />
+        <define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)" />
+        <define name="MAX_SUM_ERR" value="2000000"/>
+        <define name="HOVER_KP" value="-100"/>
+        <define name="HOVER_KD" value="-60"/>
+        <define name="HOVER_KI" value="-10"/>
+        <!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
+        <define name="RC_CLIMB_COEF" value="163" />
+        <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
+        <define name="RC_CLIMB_DEAD_BAND" value="160000" />
+    </section>
 
 
-	<section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
-		<define name="PGAIN" value="-70"/>
-		<define name="DGAIN" value="-150"/>
-		<define name="IGAIN" value="-15"/>
-	</section>
+    <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
+        <define name="PGAIN" value="-70"/>
+        <define name="DGAIN" value="-150"/>
+        <define name="IGAIN" value="-15"/>
+    </section>
 
-	<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="0.246" integer="16" />
-		<define name="BATTERY_OFFSET" value="0" />
-	</section>
+    <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="0.246" integer="16" />
+        <define name="BATTERY_OFFSET" value="0" />
+    </section>
 
-	<section name="MISC">
-		<define name="BOOZ2_FACE_REINJ_1" value="1024"/>
+    <section name="MISC">
+        <define name="BOOZ2_FACE_REINJ_1" value="1024"/>
         <define name="BOOZ_ANALOG_BARO_THRESHOLD" value="512"/>
-	</section>
+    </section>
 
     <section name="FMS">
     </section>
 
-	<section name="SIMULATOR" prefix="NPS_">
-		<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}" />
-		<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;" />
-		<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;" />
-	</section>
+    <section name="SIMULATOR" prefix="NPS_">
+        <define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}" />
+        <define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;" />
+        <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;" />
+    </section>
 
-	<section name="BOOZ2_MODE" prefix="BOOZ2_MODE_">
-		<define name="MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT" />
-		<define name="AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD" />
-		<define name="AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD" />
-	</section>
+    <section name="BOOZ2_MODE" prefix="BOOZ2_MODE_">
+        <define name="MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT" />
+        <define name="AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD" />
+        <define name="AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD" />
+    </section>
 
-	<makefile>
-		ARCH=lpc21
+    <makefile>
+        ARCH=lpc21
         ARCHI=arm7
-		BOARD_CFG = \"boards/booz2_v1_0.h\"
+        BOARD_CFG = \"boards/booz2_v1_0.h\"
         FLASH_MODE = IAP
 
-		# prevents motors from ever starting
-		#ap.CFLAGS += -DKILL_MOTORS
-		#ap.CFLAGS += -DRADIO_CONTROL_KILL_SWITCH=RADIO_CONTROL_SWITCH1
+        # prevents motors from ever starting
+        #ap.CFLAGS += -DKILL_MOTORS
+        #ap.CFLAGS += -DRADIO_CONTROL_KILL_SWITCH=RADIO_CONTROL_SWITCH1
 
-		include	$(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
-		include	$(CFG_BOOZ)/booz2_autopilot.makefile
-		include	$(CFG_BOOZ)/booz2_test_progs.makefile
+        include	$(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+        include	$(CFG_BOOZ)/booz2_autopilot.makefile
+        include	$(CFG_BOOZ)/booz2_test_progs.makefile
 
-		include	$(CFG_BOOZ)/booz2_simulator_nps.makefile
+        include	$(CFG_BOOZ)/booz2_simulator_nps.makefile
 
-		ap.CFLAGS += -DMODEM_BAUD=B57600
-		include	$(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
-		include	$(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
-		include	$(CFG_BOOZ)/subsystems/booz2_imu_b2v1.makefile
-		include	$(CFG_BOOZ)/subsystems/booz2_gps.makefile
+        ap.CFLAGS += -DMODEM_BAUD=B57600
+        include	$(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
+        include	$(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
+        include	$(CFG_BOOZ)/subsystems/booz2_imu_b2v1.makefile
+        include	$(CFG_BOOZ)/subsystems/booz2_gps.makefile
 
-		include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
+        include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
         include $(CFG_BOOZ)/subsystems/booz2_fms_datalink.makefile
 
-		include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
-		#set GPS lag for horizontal filter
-		ap.CFLAGS += -DUSE_GPS_ACC4R
+        include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
+        #set GPS lag for horizontal filter
+        ap.CFLAGS += -DUSE_GPS_ACC4R
         #ap.CFLAGS += -DGPS_LAG=0.3
 
         ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c