From d6899e562be8a703a20cb3d34c36d04edd2a232c Mon Sep 17 00:00:00 2001 From: Antoine Drouin Date: Thu, 26 Mar 2009 15:19:54 +0000 Subject: [PATCH] *** empty log message *** --- conf/airframes/booz2_a3.xml | 166 +++++++++++++++++++++++ sw/simulator/scilab/q1d/q1d_ctl_miac.sci | 2 +- sw/simulator/scilab/q1d/q1d_run.sce | 6 +- 3 files changed, 170 insertions(+), 4 deletions(-) create mode 100644 conf/airframes/booz2_a3.xml diff --git a/conf/airframes/booz2_a3.xml b/conf/airframes/booz2_a3.xml new file mode 100644 index 0000000000..4164a19261 --- /dev/null +++ b/conf/airframes/booz2_a3.xml @@ -0,0 +1,166 @@ + + + + + + + + + + + + + + + + +
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+ + + +# calib bat +# 8.39 80 +# 10.12 149 +# 12 227 +# 12.55 250 +# + + +# prevents motors from ever starting +#ap.CFLAGS += -DKILL_MOTORS + +include $(PAPARAZZI_SRC)/conf/autopilot/booz2_autopilot.makefile +include $(PAPARAZZI_SRC)/conf/autopilot/booz2_test_progs.makefile + +sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\" +include $(PAPARAZZI_SRC)/conf/autopilot/booz2_simulator.makefile + +ap.CFLAGS += -DUART1_BAUD=B57600 +include $(PAPARAZZI_SRC)/conf/autopilot/booz2_actuators_asctec.makefile +include $(PAPARAZZI_SRC)/conf/autopilot/booz2_imu_crista.makefile + + + + diff --git a/sw/simulator/scilab/q1d/q1d_ctl_miac.sci b/sw/simulator/scilab/q1d/q1d_ctl_miac.sci index 71a9edd082..f88cc2b743 100644 --- a/sw/simulator/scilab/q1d/q1d_ctl_miac.sci +++ b/sw/simulator/scilab/q1d/q1d_ctl_miac.sci @@ -3,7 +3,7 @@ // dimension one kalman filter estimating invert // of the mass // -adp_sys_noise = 0.0000005; +adp_sys_noise = 0.0005; adp_accel_noise = 0.5; adp_min_cmd = 0.01; diff --git a/sw/simulator/scilab/q1d/q1d_run.sce b/sw/simulator/scilab/q1d/q1d_run.sce index e859b198c8..166c3ef30d 100644 --- a/sw/simulator/scilab/q1d/q1d_run.sce +++ b/sw/simulator/scilab/q1d/q1d_run.sce @@ -30,12 +30,12 @@ ctl_type = CTL_MIAC; // // single input - height ctl_sp = zeros(1, length(time)); -if 0 +if 1 // step 1m 5s k = find ( time > 3. & time < 6.); ctl_sp(k) = 1.; end -if 1 +if 0 // step 15m 14s k = find ( time > 1. & time < 7); ctl_sp(k) = 15.; @@ -59,7 +59,7 @@ if 0 k = find(time >= 5 & time < 5.25); fdm_perturb(k) = 20.; end -if 0 +if 1 k = find(time >= 5); fdm_param(k) = 0.5*fdm_mass; end