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Martin Mueller
2006-10-26 15:18:06 +00:00
parent 8404cb04c0
commit d4f12d0ad9
2 changed files with 25 additions and 18 deletions
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conf/airframes/black_one.xml
+20 -13
View File
@@ -1,14 +1,14 @@
<!DOCTYPE airframe SYSTEM "airframe.dtd">
<airframe name="Microjet7 Tiny 1.1">
<airframe name="BlackOne Tiny 0.9">
<!-- commands section -->
<servos>
<servo name="GAZ" no="4" min="1000" neutral="1000" max="2000"/>
<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="HATCH" no="1" min="1000" neutral="1000" max="1725"/>
<servo name="CAM_ROLL" no="0" min="1025" neutral="1600" max="2175"/>
<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_PITCH" no="2" min="1000" neutral="1500" max="2000"/>
</servos>
@@ -66,13 +66,13 @@
<define name="PITCH_NEUTRAL_DEFAULT" value="6" unit="deg"/>
<define name="DEFAULT_CONTRAST" value="200"/>
<define name="RAD_OF_IR_CONTRAST" value="0.75"/>
<linear name="RollOfIrs" arity="2" coeff1="-0.5" coeff2="0.5"/>
<linear name="PitchOfIrs" arity="2" coeff1="0.5" coeff2="0.5"/>
<linear name="RollOfIrs" arity="2" coeff1="-0.7" coeff2="0.7"/>
<linear name="PitchOfIrs" arity="2" coeff1="0.7" coeff2="0.7"/>
<linear name="TopOfIr" arity="1" coeff1="-1"/>
<define name="RAD_OF_IR_MAX_VALUE" value="0.0045"/>
<define name="RAD_OF_IR_MIN_VALUE" value="0.00075"/>
<define name="ADC_ROLL_NEUTRAL" value="0"/>
<define name="ADC_PITCH_NEUTRAL" value="512"/>
<define name="ADC_PITCH_NEUTRAL" value="716"/>
<define name="ADC_TOP_NEUTRAL" value="512"/>
<define name="CORRECTION_UP" value="1."/>
@@ -80,9 +80,11 @@
<define name="CORRECTION_LEFT" value="1."/>
<define name="CORRECTION_RIGHT" value="1."/>
<define name="ESTIMATED_PHI_PI_4" value="M_PI_4"/>
<define name="ESTIMATED_PHI_PI_4" value="1."/>
<define name="ALLOW_INVERTED" value="0"/>
<define name="360_LATERAL_CORRECTION" value="1.3"/>
<define name="360_LONGITUDINAL_CORRECTION" value="1.3"/>
<define name="360_VERTICAL_CORRECTION" value="1."/>
</section>
<section name="GYRO" prefix="GYRO_">
@@ -201,7 +203,7 @@ ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c m
ap.srcs += commands.c
ap.CFLAGS += -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015
ap.srcs += $(SRC_ARCH)/servos_4015_hw_new.c actuators.c
ap.srcs += $(SRC_ARCH)/servos_4015_hw.c actuators.c
ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
@@ -218,21 +220,26 @@ ap.srcs += inter_mcu.c
ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_1 -DUSE_AD0_2 -DUSE_AD0_3 -DUSE_AD1 -DUSE_AD1_7 -DUSE_AD1_3 -DUSE_AD1_2
ap.srcs += $(SRC_ARCH)/adc_hw.c
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200 -DGPS_CONFIGURE -DZ_CONTRAST_START
ap.srcs += gps_ubx.c gps.c
ap.CFLAGS += -DINFRARED
ap.CFLAGS += -DINFRARED -DALT_KALMAN -DIR_360
ap.srcs += infrared.c estimator.c
ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
ap.CFLAGS += -DGYRO -DADXRS150
ap.srcs += gyro.c
#ap.srcs += bomb.c
ap.srcs += bomb.c
ap.CFLAGS += -DMOBILE_CAM
ap.srcs += traffic_info.c cam.c
#ap.CFLAGS += -DPOINT_CAM
#ap.srcs += point.c
# Harware In The Loop
conf/airframes/mac06a.xml
+5 -5
View File
@@ -57,8 +57,8 @@
</section>
<section name="INFRARED" prefix="IR_">
<define name="ROLL_NEUTRAL_DEFAULT" value="3" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="6" unit="deg"/>
<define name="ROLL_NEUTRAL_DEFAULT" value="6" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="9" unit="deg"/>
<define name="DEFAULT_CONTRAST" value="200"/>
<define name="RAD_OF_IR_CONTRAST" value="0.75"/>
<linear name="RollOfIrs" arity="2" coeff1="0.7" coeff2="-0.7"/>
@@ -67,7 +67,7 @@
<define name="RAD_OF_IR_MAX_VALUE" value="0.0045"/>
<define name="RAD_OF_IR_MIN_VALUE" value="0.00075"/>
<define name="ADC_ROLL_NEUTRAL" value="0"/>
<define name="ADC_PITCH_NEUTRAL" value="716"/>
<define name="ADC_PITCH_NEUTRAL" value="-716"/>
<define name="ADC_TOP_NEUTRAL" value="512"/>
<define name="CORRECTION_UP" value="1."/>
@@ -77,8 +77,8 @@
<define name="ESTIMATED_PHI_PI_4" value="1."/>
<define name="360_LATERAL_CORRECTION" value="1.6"/>
<define name="360_LONGITUDINAL_CORRECTION" value="1.6"/>
<define name="360_LATERAL_CORRECTION" value="1."/>
<define name="360_LONGITUDINAL_CORRECTION" value="1."/>
<define name="360_VERTICAL_CORRECTION" value="1."/>
</section>