Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-05 23:49:00 +08:00
Code Issues Actions 25 Packages Projects Releases Wiki Activity

use A1 supervision configuration in sim

Browse Source
This commit is contained in:
Felix Ruess
2010-03-05 23:22:18 +00:00
parent 78b9cd3f12
commit cf5df69fad
2 changed files with 8 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/booz2_flixr.xml
+1 -1
View File
@@ -197,7 +197,7 @@
<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_NAV" />
<define name="AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD" />
</section>
<makefile>
sw/airborne/booz/actuators/booz_supervision.c
+7
View File
@@ -32,10 +32,17 @@
#define INT32_MAX (2147483647)
#endif
#ifdef SITL
static const int32_t roll_coef[SUPERVISION_NB_MOTOR] = { 0, 0, -256, 256};
static const int32_t pitch_coef[SUPERVISION_NB_MOTOR] = { 256, -256, 0, 0};
static const int32_t yaw_coef[SUPERVISION_NB_MOTOR] = { -256, -256, 256, 256};
static const int32_t thrust_coef[SUPERVISION_NB_MOTOR] = { 256, 256, 256, 256};
#else
static const int32_t roll_coef[SUPERVISION_NB_MOTOR] = SUPERVISION_ROLL_COEF;
static const int32_t pitch_coef[SUPERVISION_NB_MOTOR] = SUPERVISION_PITCH_COEF;
static const int32_t yaw_coef[SUPERVISION_NB_MOTOR] = SUPERVISION_YAW_COEF;
static const int32_t thrust_coef[SUPERVISION_NB_MOTOR] = SUPERVISION_THRUST_COEF;
#endif
struct BoozSupervision supervision;