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Pascal Brisset
2007-11-08 20:04:23 +00:00
parent 0a240b180e
commit c4916b4778
3 changed files with 9 additions and 5 deletions
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conf/airframes/microjetI.xml
+1 -1
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@@ -93,7 +93,7 @@
<define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/>
<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN5\rATTT80\r\""/> -->
<define name="XBEE_INIT" value="\"ATPL2\rATRN5\rATTT80\r\""/>
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
conf/airframes/microjetII.xml
+6 -3
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@@ -52,7 +52,7 @@
<section name="INFRARED" prefix="IR_">
<define name="ROLL_NEUTRAL_DEFAULT" value="-3.5" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="3" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="1.2" unit="deg"/>
<define name="RAD_OF_IR_CONTRAST" value="0.75"/>
@@ -93,7 +93,7 @@
<define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/>
<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN5\rATTT80\r\""/> -->
<define name="XBEE_INIT" value="\"ATPL2\rATRN5\rATTT80\r\""/>
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
@@ -141,7 +141,7 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.55"/>
<define name="COURSE_PGAIN" value="-1.25"/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
@@ -235,6 +235,7 @@ ap.CFLAGS += -DGYRO -DADXRS150
ap.srcs += gyro.c
ap.srcs += nav_line.c nav_survey_rectangle.c
ap.srcs += traffic_info.c
ap.srcs += light.c
ap.CFLAGS += -DUSE_LIGHT
@@ -243,6 +244,8 @@ ap.CFLAGS += -DUSE_LIGHT
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DIR_360
sim.srcs += nav_survey_rectangle.c nav_line.c
sim.srcs += traffic_info.c
sim.srcs += light.c
sim.CFLAGS += -DUSE_LIGHT
conf/airframes/microjetIII.xml
+2 -1
View File
@@ -93,7 +93,7 @@
<define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/>
<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN5\rATTT80\r\""/> -->
<define name="XBEE_INIT" value="\"ATPL2\rATRN5\rATTT80\r\""/>
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
@@ -231,6 +231,7 @@ ap.CFLAGS += -DGYRO -DADXRS150
ap.srcs += gyro.c
ap.srcs += nav_line.c nav_survey_rectangle.c
ap.srcs += traffic_info.c
# PID sensor
ap.CFLAGS += -DUSE_ADC_6 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_6 -DADC_CHANNEL_GENERIC_NB_SAMPLES=16