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mav06

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This commit is contained in:
Martin Mueller
2006-11-01 15:17:37 +00:00
parent 0c22723376
commit bf5fd54e69
1 changed files with 19 additions and 10 deletions
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conf/airframes/black_one.xml
+19 -10
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@@ -8,7 +8,8 @@
<servo name="AILEVON_LEFT" no="5" min="1900" neutral="1470" max="1100"/> <servo name="AILEVON_LEFT" no="5" min="1900" neutral="1470" max="1100"/>
<servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1595" max="2000"/> <servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1595" max="2000"/>
<servo name="HATCH" no="1" min="1725" neutral="1725" max="1000"/> <servo name="HATCH" no="1" min="1725" neutral="1725" max="1000"/>
<servo name="CAM_ROLL" no="0" min="1025" neutral="1600" max="2175"/> <!--servo name="CAM_ROLL" no="0" min="1025" neutral="1600" max="2175"/-->
<servo name="CAM_ROLL" no="0" min="2150" neutral="1585" max="1020"/>
<servo name="CAM_PITCH" no="2" min="1000" neutral="1500" max="2000"/> <servo name="CAM_PITCH" no="2" min="1000" neutral="1500" max="2000"/>
</servos> </servos>
@@ -41,7 +42,7 @@
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/> <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/> <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
<set servo="HATCH" value="@HATCH"/> <set servo="HATCH" value="@HATCH"/>
<set servo="CAM_ROLL" value="@CAM_ROLL"/> <!--set servo="CAM_ROLL" value="@CAM_ROLL"/-->
</command_laws> </command_laws>
<section name="AUTO1" prefix="AUTO1_"> <section name="AUTO1" prefix="AUTO1_">
@@ -62,8 +63,8 @@
</section> </section>
<section name="INFRARED" prefix="IR_"> <section name="INFRARED" prefix="IR_">
<define name="ROLL_NEUTRAL_DEFAULT" value="3" unit="deg"/> <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="6" unit="deg"/> <define name="PITCH_NEUTRAL_DEFAULT" value="12" unit="deg"/>
<define name="DEFAULT_CONTRAST" value="200"/> <define name="DEFAULT_CONTRAST" value="200"/>
<define name="RAD_OF_IR_CONTRAST" value="0.75"/> <define name="RAD_OF_IR_CONTRAST" value="0.75"/>
<linear name="RollOfIrs" arity="2" coeff1="-0.7" coeff2="0.7"/> <linear name="RollOfIrs" arity="2" coeff1="-0.7" coeff2="0.7"/>
@@ -108,6 +109,8 @@
<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="TRIGGER_DELAY" value="2."/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
@@ -138,20 +141,20 @@
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.18"/> <define name="COURSE_PGAIN" value="-0.85"/>
<define name="ROLL_MAX_SETPOINT" value="0.5" unit="radians"/> <define name="ROLL_MAX_SETPOINT" value="0.5" unit="radians"/>
<define name="ROLL_PGAIN" value="8000."/> <define name="ROLL_PGAIN" value="8000."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/> <define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-8000."/> <define name="PITCH_PGAIN" value="-8000."/>
<define name="PITCH_DGAIN" value="0."/> <define name="PITCH_DGAIN" value="0."/>
<define name="ELEVATOR_OF_ROLL" value="1250"/> <define name="ELEVATOR_OF_ROLL" value="1750"/>
<!-- roll rate loop --> <!-- roll rate loop -->
<define name="ROLL_RATE_MODE_DEFAULT" value="1"/> <define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
<define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/> <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
<define name="ROLL_RATE_MAX_SETPOINT" value="10"/> <define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
<define name="ROLL_RATE_PGAIN" value="1000."/> <define name="ROLL_RATE_PGAIN" value="1500."/>
<define name="ROLL_RATE_IGAIN" value="0."/> <define name="ROLL_RATE_IGAIN" value="0."/>
<define name="ROLL_RATE_DGAIN" value="0."/> <define name="ROLL_RATE_DGAIN" value="0."/>
<define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/> <define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
@@ -190,7 +193,10 @@
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/> <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/> <define name="HOME_RADIUS" value="100" unit="m"/>
</section> </section>
<section name="CAM" prefix="CAM_">
<define name="PHI0" value="-45" unit="deg"/>
</section>
<makefile> <makefile>
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
@@ -235,8 +241,8 @@ ap.srcs += gyro.c
ap.srcs += bomb.c ap.srcs += bomb.c
ap.CFLAGS += -DMOBILE_CAM -DPOINT_CAM #Cap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM
ap.srcs += traffic_info.c point.c cam.c #Cap.srcs += traffic_info.c point.c cam.c
# Hardware In The Loop # Hardware In The Loop
@@ -248,6 +254,9 @@ include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM
sim.srcs += bomb.c sim.srcs += bomb.c
#Csim.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM
#Csim.srcs += traffic_info.c point.c
# a test program to setup actuators # a test program to setup actuators
setup_actuators.ARCHDIR = $(ARCHI) setup_actuators.ARCHDIR = $(ARCHI)