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update G1 conf

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This commit is contained in:
Gautier Hattenberger
2010-03-09 17:34:53 +00:00
parent f7e6e91194
commit d9ff74028f
1 changed files with 15 additions and 8 deletions
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conf/airframes/ENAC/quadrotor/booz2_g1.xml
+15 -8
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@@ -1,5 +1,11 @@
<airframe name="BOOZ2_G1">
<modules main_freq="512">
<!--load name="booz_drop.xml"/-->
<load name="booz_cam.xml"/>
<!--load name="sonar_maxbotix_booz.xml"/-->
</modules>
<servos min="0" neutral="0" max="0xff">
<servo name="PITCH" no="0" min="0" neutral="0" max="255"/>
<servo name="ROLL" no="1" min="0" neutral="0" max="255"/>
@@ -123,6 +129,7 @@
<section name="INS" prefix="BOOZ_INS_">
<define name="BARO_SENS" value="15." integer="16"/>
<define name="UNTILT_ACCEL" value="1"/>
<define name="SONAR_SENS" value="2.146" integer="16"/>
</section>
<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
@@ -171,7 +178,7 @@
</section>
<section name="CAM" prefix="BOOZ2_CAM_">
<section name="CAM" prefix="BOOZ_CAM_">
<define name="TILT_NEUTRAL" value="1500"/>
<define name="TILT_MIN" value="1000"/>
<define name="TILT_MAX" value="2000"/>
@@ -221,21 +228,21 @@ include $(CFG_BOOZ)/subsystems/booz2_fms_datalink.makefile
include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
#include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
#set GPS lag for horizontal filter
#ap.CFLAGS += -DGPS_LAG=0.8
ap.CFLAGS += -DUSE_GPS_ACC4R
#ap.CFLAGS += -DUSE_GPS_ACC4R
ap.CFLAGS += -DB2_GUIDANCE_H_USE_REF
#ap.CFLAGS += -DB2_GUIDANCE_H_USE_REF
sim.CFLAGS += -DB2_GUIDANCE_H_USE_REF
ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
ap.CFLAGS += -DUSE_CAM
ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c $(SRC_BOOZ)/booz2_cam.c
sim.CFLAGS += -DUSE_CAM
sim.srcs += $(SRC_BOOZ_SIM)/booz2_pwm_hw.c $(SRC_BOOZ)/booz2_cam.c
ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c
sim.srcs += $(SRC_BOOZ_SIM)/booz2_pwm_hw.c
ap.CFLAGS += -DUSE_MODULES
</makefile>