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updated for new supervision and integrator in guidance_v

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This commit is contained in:
Antoine Drouin
2009-08-30 13:53:46 +00:00
parent e65801ea9d
commit d35cbed53a
1 changed files with 10 additions and 4 deletions
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conf/airframes/booz2_x1.xml
+10 -4
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@@ -15,17 +15,21 @@
<axis name="THRUST" failsafe_value="0"/> <axis name="THRUST" failsafe_value="0"/>
</commands> </commands>
<section name="BUSS_BLMC" prefix="BUSS_BLMC_"> <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
<define name="NB" value="4"/>
<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/> <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
</section> </section>
<section name="SUPERVISION" prefix="SUPERVISION_"> <section name="SUPERVISION" prefix="SUPERVISION_">
<define name="FRONT_ROTOR_CW" value="1"/>
<define name="MIN_MOTOR" value="2"/> <define name="MIN_MOTOR" value="2"/>
<define name="MAX_MOTOR" value="210"/> <define name="MAX_MOTOR" value="210"/>
<define name="TRIM_A" value="0"/> <define name="TRIM_A" value="0"/>
<define name="TRIM_E" value="0"/> <define name="TRIM_E" value="0"/>
<define name="TRIM_R" value="0"/> <define name="TRIM_R" value="0"/>
<define name="NB_MOTOR" value="4"/>
<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}"/>
</section> </section>
<section name="IMU" prefix="IMU_"> <section name="IMU" prefix="IMU_">
@@ -143,8 +147,10 @@
<define name="MAX_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="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_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="-500"/> <define name="HOVER_KP" value="-500"/>
<define name="HOVER_KD" value="-200"/> <define name="HOVER_KD" value="-200"/>
<define name="HOVER_KI" value="-100"/>
<!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) --> <!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/> <define name="RC_CLIMB_COEF" value ="163"/>
<!-- SPEED_BFP_OF_REAL(1.5) * 20% --> <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
@@ -189,15 +195,15 @@ BOARD_CFG = \"boards/booz2_v1_0.h\"
# prevents motors from ever starting # prevents motors from ever starting
#ap.CFLAGS += -DKILL_MOTORS #ap.CFLAGS += -DKILL_MOTORS
ap.CFLAGS += -DMODEM_BAUD=B57600
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
include $(CFG_BOOZ)/booz2_autopilot.makefile include $(CFG_BOOZ)/booz2_autopilot.makefile
include $(CFG_BOOZ)/booz2_test_progs.makefile include $(CFG_BOOZ)/booz2_test_progs.makefile
ap.CFLAGS += -DMODEM_BAUD=B57600
include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
include $(CFG_BOOZ)/subsystems/booz2_actuators_buss.makefile include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
include $(CFG_BOOZ)/subsystems/booz2_gps.makefile include $(CFG_BOOZ)/subsystems/booz2_gps.makefile