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removed one of the 4 corrections applied to infrared reading, namely IR_ESTIMATED_PHI_PI_4. More to follow

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This commit is contained in:
Antoine Drouin
2007-10-17 16:54:39 +00:00
parent 91e083c5ee
commit c803da8151
19 changed files with 5 additions and 58 deletions
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conf/airframes/black_one.xml
-2
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@@ -81,8 +81,6 @@
<define name="CORRECTION_LEFT" value="1."/> <define name="CORRECTION_LEFT" value="1."/>
<define name="CORRECTION_RIGHT" value="1."/> <define name="CORRECTION_RIGHT" value="1."/>
<define name="ESTIMATED_PHI_PI_4" value="1."/>
<define name="360_LATERAL_CORRECTION" value="1.3"/> <define name="360_LATERAL_CORRECTION" value="1.3"/>
<define name="360_LONGITUDINAL_CORRECTION" value="1.3"/> <define name="360_LONGITUDINAL_CORRECTION" value="1.3"/>
<define name="360_VERTICAL_CORRECTION" value="1."/> <define name="360_VERTICAL_CORRECTION" value="1."/>
conf/airframes/booz.xml
+5 -21
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@@ -1,10 +1,10 @@
<airframe name="BOOZ"> <airframe name="BOOZ">
<servos min="0" neutral="0" max="0x3ff"> <servos min="0" neutral="0" max="0x3ff">
<servo name="MOTOR_FRONT" no="1" min="0" neutral="0" max="0x3ff"/> <servo name="MOTOR_FRONT" no="1" min="1000" neutral="1000" max="2000"/>
<servo name="MOTOR_BACK" no="0" min="0" neutral="0" max="0x3ff"/> <servo name="MOTOR_BACK" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="MOTOR_LEFT" no="3" min="0" neutral="0" max="0x3ff"/> <servo name="MOTOR_LEFT" no="3" min="1000" neutral="1000" max="2000"/>
<servo name="MOTOR_RIGHT" no="2" min="0" neutral="0" max="0x3ff"/> <servo name="MOTOR_RIGHT" no="2" min="1000" neutral="1000" max="2000"/>
</servos> </servos>
<commands> <commands>
@@ -67,7 +67,7 @@ ctl.srcs += downlink.c pprz_transport.c
ctl.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart1 ctl.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart1
ctl.CFLAGS += -DCONTROLLER -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DSPI_SELECT_SLAVE0_PIN=20 -DSPI_SELECT_SLAVE0_PORT=0 -DSSPCPSR_VAL=0x10 ctl.CFLAGS += -DCONTROLLER -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DSPI_SELECT_SLAVE0_PIN=20 -DSPI_SELECT_SLAVE0_PORT=0 -DSSPCPSR_VAL=0x0C
ctl.srcs += spi.c $(SRC_ARCH)/spi_hw.c link_imu.c ctl.srcs += spi.c $(SRC_ARCH)/spi_hw.c link_imu.c
ctl.srcs += booz_estimator.c booz_control.c ctl.srcs += booz_estimator.c booz_control.c
@@ -152,22 +152,6 @@ mtt.CFLAGS += -DIMU
mtt.srcs += link_imu.c mtt.srcs += link_imu.c
#
# test link imu
#
tli.ARCHDIR = $(ARCHI)
tli.ARCH = arm7tdmi
tli.TARGET = tli
tli.TARGETDIR = tli
tli.CFLAGS += -DIMU -DCONFIG=\"pprz_imu.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(4e-3)'
tli.srcs = main_tli.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
tli.CFLAGS += -DIMU
tli.srcs += link_imu.c
</makefile> </makefile>
</airframe> </airframe>
conf/airframes/funjet1.xml
-2
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@@ -71,8 +71,6 @@
<define name="CORRECTION_LEFT" value="1."/> <define name="CORRECTION_LEFT" value="1."/>
<define name="CORRECTION_RIGHT" value="1."/> <define name="CORRECTION_RIGHT" value="1."/>
<define name="ESTIMATED_PHI_PI_4" value="0.9"/>
<define name="360_LATERAL_CORRECTION" value="1."/> <define name="360_LATERAL_CORRECTION" value="1."/>
<define name="360_LONGITUDINAL_CORRECTION" value="1."/> <define name="360_LONGITUDINAL_CORRECTION" value="1."/>
<define name="360_VERTICAL_CORRECTION" value="1."/> <define name="360_VERTICAL_CORRECTION" value="1."/>
conf/airframes/funjetmm.xml
-2
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@@ -71,8 +71,6 @@
<define name="CORRECTION_LEFT" value="1."/> <define name="CORRECTION_LEFT" value="1."/>
<define name="CORRECTION_RIGHT" value="1."/> <define name="CORRECTION_RIGHT" value="1."/>
<define name="ESTIMATED_PHI_PI_4" value="1."/>
<define name="360_LATERAL_CORRECTION" value="1.3"/> <define name="360_LATERAL_CORRECTION" value="1.3"/>
<define name="360_LONGITUDINAL_CORRECTION" value="1.3"/> <define name="360_LONGITUDINAL_CORRECTION" value="1.3"/>
<define name="360_VERTICAL_CORRECTION" value="1."/> <define name="360_VERTICAL_CORRECTION" value="1."/>
conf/airframes/mac06a.xml
-2
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@@ -75,8 +75,6 @@
<define name="CORRECTION_LEFT" value="1."/> <define name="CORRECTION_LEFT" value="1."/>
<define name="CORRECTION_RIGHT" value="1."/> <define name="CORRECTION_RIGHT" value="1."/>
<define name="ESTIMATED_PHI_PI_4" value="1."/>
<define name="360_LATERAL_CORRECTION" value="1."/> <define name="360_LATERAL_CORRECTION" value="1."/>
<define name="360_LONGITUDINAL_CORRECTION" value="1."/> <define name="360_LONGITUDINAL_CORRECTION" value="1."/>
<define name="360_VERTICAL_CORRECTION" value="1."/> <define name="360_VERTICAL_CORRECTION" value="1."/>
conf/airframes/microjet6.xml
-2
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@@ -72,8 +72,6 @@
<define name="CORRECTION_LEFT" value="1.0"/> <define name="CORRECTION_LEFT" value="1.0"/>
<define name="CORRECTION_RIGHT" value="1.0"/> <define name="CORRECTION_RIGHT" value="1.0"/>
<define name="ESTIMATED_PHI_PI_4" value="0.9"/>
<define name="360_LATERAL_CORRECTION" value="1."/> <define name="360_LATERAL_CORRECTION" value="1."/>
<define name="360_LONGITUDINAL_CORRECTION" value="1."/> <define name="360_LONGITUDINAL_CORRECTION" value="1."/>
<define name="360_VERTICAL_CORRECTION" value="1."/> <define name="360_VERTICAL_CORRECTION" value="1."/>
conf/airframes/microjet7.xml
-2
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@@ -77,8 +77,6 @@
<define name="CORRECTION_LEFT" value="1."/> <define name="CORRECTION_LEFT" value="1."/>
<define name="CORRECTION_RIGHT" value="1."/> <define name="CORRECTION_RIGHT" value="1."/>
<define name="ESTIMATED_PHI_PI_4" value="0.9"/>
<define name="360_LATERAL_CORRECTION" value="1."/> <define name="360_LATERAL_CORRECTION" value="1."/>
<define name="360_LONGITUDINAL_CORRECTION" value="1."/> <define name="360_LONGITUDINAL_CORRECTION" value="1."/>
<define name="360_VERTICAL_CORRECTION" value="1."/> <define name="360_VERTICAL_CORRECTION" value="1."/>
conf/airframes/microjetI.xml
-2
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@@ -69,8 +69,6 @@
<define name="CORRECTION_LEFT" value="1.0"/> <define name="CORRECTION_LEFT" value="1.0"/>
<define name="CORRECTION_RIGHT" value="1.0"/> <define name="CORRECTION_RIGHT" value="1.0"/>
<define name="ESTIMATED_PHI_PI_4" value="0.9"/>
<define name="360_LATERAL_CORRECTION" value="1."/> <define name="360_LATERAL_CORRECTION" value="1."/>
<define name="360_LONGITUDINAL_CORRECTION" value="1."/> <define name="360_LONGITUDINAL_CORRECTION" value="1."/>
<define name="360_VERTICAL_CORRECTION" value="1."/> <define name="360_VERTICAL_CORRECTION" value="1."/>
conf/airframes/minimag1.xml
-2
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@@ -80,8 +80,6 @@
<define name="CORRECTION_LEFT" value="1."/> <define name="CORRECTION_LEFT" value="1."/>
<define name="CORRECTION_RIGHT" value="1."/> <define name="CORRECTION_RIGHT" value="1."/>
<define name="ESTIMATED_PHI_PI_4" value="0.9"/>
<define name="360_LATERAL_CORRECTION" value="1."/> <define name="360_LATERAL_CORRECTION" value="1."/>
<define name="360_LONGITUDINAL_CORRECTION" value="1."/> <define name="360_LONGITUDINAL_CORRECTION" value="1."/>
<define name="360_VERTICAL_CORRECTION" value="1."/> <define name="360_VERTICAL_CORRECTION" value="1."/>
conf/airframes/minimag_fs.xml
-2
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@@ -79,8 +79,6 @@
<define name="CORRECTION_LEFT" value="1."/> <define name="CORRECTION_LEFT" value="1."/>
<define name="CORRECTION_RIGHT" value="1."/> <define name="CORRECTION_RIGHT" value="1."/>
<define name="ESTIMATED_PHI_PI_4" value="0.9"/>
<define name="360_LATERAL_CORRECTION" value="1."/> <define name="360_LATERAL_CORRECTION" value="1."/>
<define name="360_LONGITUDINAL_CORRECTION" value="1."/> <define name="360_LONGITUDINAL_CORRECTION" value="1."/>
<define name="360_VERTICAL_CORRECTION" value="1."/> <define name="360_VERTICAL_CORRECTION" value="1."/>
conf/airframes/slayer1.xml
-2
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@@ -71,8 +71,6 @@
<define name="CORRECTION_LEFT" value="1."/> <define name="CORRECTION_LEFT" value="1."/>
<define name="CORRECTION_RIGHT" value="1."/> <define name="CORRECTION_RIGHT" value="1."/>
<define name="ESTIMATED_PHI_PI_4" value="0.55"/>
<define name="360_LATERAL_CORRECTION" value="1.25"/> <define name="360_LATERAL_CORRECTION" value="1.25"/>
<define name="360_LONGITUDINAL_CORRECTION" value="1.25"/> <define name="360_LONGITUDINAL_CORRECTION" value="1.25"/>
<define name="360_VERTICAL_CORRECTION" value="1."/> <define name="360_VERTICAL_CORRECTION" value="1."/>
conf/airframes/slayer2.xml
-3
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@@ -70,9 +70,6 @@
<define name="CORRECTION_LEFT" value="1."/> <define name="CORRECTION_LEFT" value="1."/>
<define name="CORRECTION_RIGHT" value="1."/> <define name="CORRECTION_RIGHT" value="1."/>
<define name="ESTIMATED_PHI_PI_4" value="0.78"/>
<define name="ESTIMATED_PHI_MINUS_PI_4" value="0.78"/>
<define name="360_LATERAL_CORRECTION" value="1."/> <define name="360_LATERAL_CORRECTION" value="1."/>
<define name="360_LONGITUDINAL_CORRECTION" value="1."/> <define name="360_LONGITUDINAL_CORRECTION" value="1."/>
<define name="360_VERTICAL_CORRECTION" value="1."/> <define name="360_VERTICAL_CORRECTION" value="1."/>
conf/airframes/slayer3.xml
-2
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@@ -69,8 +69,6 @@
<define name="CORRECTION_LEFT" value="1."/> <define name="CORRECTION_LEFT" value="1."/>
<define name="CORRECTION_RIGHT" value="1."/> <define name="CORRECTION_RIGHT" value="1."/>
<define name="ESTIMATED_PHI_PI_4" value="M_PI_4"/>
<define name="360_LATERAL_CORRECTION" value="1."/> <define name="360_LATERAL_CORRECTION" value="1."/>
<define name="360_LONGITUDINAL_CORRECTION" value="1."/> <define name="360_LONGITUDINAL_CORRECTION" value="1."/>
<define name="360_VERTICAL_CORRECTION" value="1.5"/> <define name="360_VERTICAL_CORRECTION" value="1.5"/>
conf/airframes/storm1.xml
-2
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@@ -94,8 +94,6 @@
<define name="CORRECTION_LEFT" value="1."/> <define name="CORRECTION_LEFT" value="1."/>
<define name="CORRECTION_RIGHT" value="1."/> <define name="CORRECTION_RIGHT" value="1."/>
<define name="ESTIMATED_PHI_PI_4" value="0.9"/>
<define name="360_LATERAL_CORRECTION" value="1."/> <define name="360_LATERAL_CORRECTION" value="1."/>
<define name="360_LONGITUDINAL_CORRECTION" value="1."/> <define name="360_LONGITUDINAL_CORRECTION" value="1."/>
<define name="360_VERTICAL_CORRECTION" value="1."/> <define name="360_VERTICAL_CORRECTION" value="1."/>
conf/airframes/tiny2.xml
-2
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@@ -80,8 +80,6 @@
<define name="CORRECTION_LEFT" value="1."/> <define name="CORRECTION_LEFT" value="1."/>
<define name="CORRECTION_RIGHT" value="1."/> <define name="CORRECTION_RIGHT" value="1."/>
<define name="ESTIMATED_PHI_PI_4" value="0.9"/>
<define name="360_LATERAL_CORRECTION" value="1."/> <define name="360_LATERAL_CORRECTION" value="1."/>
<define name="360_LONGITUDINAL_CORRECTION" value="1."/> <define name="360_LONGITUDINAL_CORRECTION" value="1."/>
<define name="360_VERTICAL_CORRECTION" value="1."/> <define name="360_VERTICAL_CORRECTION" value="1."/>
conf/airframes/twinjet1.xml
-2
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@@ -72,8 +72,6 @@
<define name="CORRECTION_LEFT" value="1."/> <define name="CORRECTION_LEFT" value="1."/>
<define name="CORRECTION_RIGHT" value="1."/> <define name="CORRECTION_RIGHT" value="1."/>
<define name="ESTIMATED_PHI_PI_4" value="0.9"/>
<define name="360_LATERAL_CORRECTION" value="1."/> <define name="360_LATERAL_CORRECTION" value="1."/>
<define name="360_LONGITUDINAL_CORRECTION" value="1."/> <define name="360_LONGITUDINAL_CORRECTION" value="1."/>
<define name="360_VERTICAL_CORRECTION" value="1."/> <define name="360_VERTICAL_CORRECTION" value="1."/>
conf/airframes/twinstar6.xml
-2
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@@ -81,8 +81,6 @@ des 2 variateurs -->
<define name="CORRECTION_LEFT" value="1."/> <define name="CORRECTION_LEFT" value="1."/>
<define name="CORRECTION_RIGHT" value="1."/> <define name="CORRECTION_RIGHT" value="1."/>
<define name="ESTIMATED_PHI_PI_4" value="0.9"/>
<define name="360_LATERAL_CORRECTION" value="1."/> <define name="360_LATERAL_CORRECTION" value="1."/>
<define name="360_LONGITUDINAL_CORRECTION" value="1."/> <define name="360_LONGITUDINAL_CORRECTION" value="1."/>
<define name="360_VERTICAL_CORRECTION" value="1."/> <define name="360_VERTICAL_CORRECTION" value="1."/>
conf/airframes/tyto1.xml
-2
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@@ -82,8 +82,6 @@
<define name="CORRECTION_LEFT" value="1."/> <define name="CORRECTION_LEFT" value="1."/>
<define name="CORRECTION_RIGHT" value="1."/> <define name="CORRECTION_RIGHT" value="1."/>
<define name="ESTIMATED_PHI_PI_4" value="0.9"/>
<define name="360_LATERAL_CORRECTION" value="1."/> <define name="360_LATERAL_CORRECTION" value="1."/>
<define name="360_LONGITUDINAL_CORRECTION" value="1."/> <define name="360_LONGITUDINAL_CORRECTION" value="1."/>
<define name="360_VERTICAL_CORRECTION" value="1."/> <define name="360_VERTICAL_CORRECTION" value="1."/>
conf/airframes/xxx1.xml
-2
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@@ -76,8 +76,6 @@
<define name="CORRECTION_LEFT" value="1."/> <define name="CORRECTION_LEFT" value="1."/>
<define name="CORRECTION_RIGHT" value="1."/> <define name="CORRECTION_RIGHT" value="1."/>
<define name="ESTIMATED_PHI_PI_4" value="0.9"/>
<define name="360_LATERAL_CORRECTION" value="1."/> <define name="360_LATERAL_CORRECTION" value="1."/>
<define name="360_LONGITUDINAL_CORRECTION" value="1."/> <define name="360_LONGITUDINAL_CORRECTION" value="1."/>
<define name="360_VERTICAL_CORRECTION" value="1."/> <define name="360_VERTICAL_CORRECTION" value="1."/>