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updates for standard landing plan (standard.xml)

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Anton Kochevar
2008-09-01 04:39:23 +00:00
parent 0a48fe4700
commit d74058031c
1 changed files with 25 additions and 16 deletions
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conf/airframes/slayerJH.xml
+25 -16
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@@ -4,20 +4,20 @@
<!-- commands section -->
<servos>
<servo name="AILEVON_RIGHT" no="1" min="1000" neutral="1500" max="2000"/>
<servo name="AILEVON_LEFT" no="3" min="2000" neutral="1500" max="1000"/>
<servo name="THROTTLE" no="4" min="1250" neutral="1250" max="1850"/>
<servo name="AILEVON_LEFT" no="3" min="2000" neutral="1500" max="1000"/>
<servo name="THROTTLE" no="4" min="1250" neutral="1250" max="1850"/>
</servos>
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
</commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
</rc_commands>
<section name="MIXER">
@@ -26,11 +26,11 @@
</section>
<command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
</command_laws>
<section name="AUTO1" prefix="AUTO1_">
@@ -49,7 +49,7 @@
<section name="INFRARED" prefix="IR_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="6" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="11.4" unit="deg"/>
<define name="DEFAULT_CONTRAST" value="200"/> <!-- Contrast used prior to capture on models without z-sensor -->
<define name="HORIZ_SENSOR_TILTED" value="1"/> <!-- "0" indicates x-y sensor is aligned with the fueslage, "1" indicates a 45 deg rotation -->
<define name="IR1_SIGN" value="-1"/>
@@ -61,7 +61,7 @@
<define name="ADC_TOP_NEUTRAL" value="512"/>
<define name="CORRECTION_UP" value="1.0"/> <!-- multiplies the up pitch angle reading -->
<define name="CORRECTION_DOWN" value="1.0"/> <!-- multiplies the down pitch angle reading -->
<define name="CORRECTION_DOWN" value="1.5"/> <!-- multiplies the down pitch angle reading -->
<define name="CORRECTION_LEFT" value="1.0"/> <!-- multiplies the left roll angle reading -->
<define name="CORRECTION_RIGHT" value="1.0"/> <!-- multiplies the right roll angle reading -->
@@ -78,7 +78,9 @@
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.0" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="LOW_BAT_LEVEL" value="10." unit="V"/>
</section>
<section name="MISC">
@@ -95,6 +97,7 @@
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
<define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
@@ -104,7 +107,7 @@
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.60"/>
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.45"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1.0"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="2000"/>
@@ -126,15 +129,17 @@
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-6000."/>
<define name="PITCH_DGAIN" value="0."/>
<define name="ELEVATOR_OF_ROLL" value="0"/>
<define name="ELEVATOR_OF_ROLL" value="3213.20800781"/>
<define name="ROLL_ATTITUDE_GAIN" value="-6600"/>
<define name="ROLL_RATE_GAIN" value="-1200"/>
<define name="ROLL_ATTITUDE_GAIN" value="-5000."/>
<define name="ROLL_RATE_GAIN" value="-495.282989502"/>
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="(V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN*V_CTL_ALTITUDE_MAX_CLIMB)"/>
<define name="THROTTLE_CUT_APPROACHING_TIME" value="16"/>
<define name="FLARE_APPROACHING_TIME" value="16"/>
</section>
@@ -211,6 +216,10 @@ ap.CFLAGS += -DGYRO -DADXRS150
ap.srcs += gyro.c
# Video switch
ap.CFLAGS += -DLIGHT_PIN_1=3 -DUSE_GPIO
ap.srcs += $(SRC_ARCH)/gpio.c
# Harware In The Loop
#ap.CFLAGS += -DHITL