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changing booz2 vertical loop

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This commit is contained in:
Antoine Drouin
2009-02-09 02:35:27 +00:00
parent 663be3f1c9
commit e2c2e53645
7 changed files with 41 additions and 19 deletions
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conf/airframes/booz2_a1.xml
+6 -2
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@@ -109,6 +109,10 @@
</section>
<section name="INS" prefix="BOOZ_INS_">
<define name="BARO_SENS" value="18.1" integer="16"/>
</section>
<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
<define name="HOVER_POWER" value="81"/>
<define name="HOVER_KP" value="-200"/>
@@ -132,8 +136,8 @@
<section name="AUTOPILOT">
<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_HOVER_Z_HOLD"/>
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_HOVER_Z_HOLD"/>
</section>
<section name="FMS">
conf/airframes/booz2_a2.xml
+8 -5
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@@ -91,12 +91,15 @@
<define name="ALIGNMENT_DPSI" value="BOOZ_ANGLE_I_OF_F(0.)"/>
</section>
<section name="INS" prefix="BOOZ_INS_">
<define name="BARO_SENS" value="18.1" integer="16"/>
</section>
<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
<define name="HOVER_POWER" value="81"/>
<define name="HOVER_KP" value="-200"/>
<define name="HOVER_KD" value="-100"/>
<define name="HOVER_KI" value="-50"/>
<define name="HOVER_KP" value="-300"/>
<define name="HOVER_KD" value="-200"/>
<define name="HOVER_KI" value="-75"/>
</section>
@@ -108,8 +111,8 @@
<section name="AUTOPILOT">
<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
</section>
<section name="BAT">
conf/airframes/booz2_flixr.xml
+3
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@@ -114,6 +114,9 @@
<define name="ALIGNMENT_DPSI" value="BOOZ_ANGLE_I_OF_F(0.)"/>
</section>
<section name="INS" prefix="BOOZ_INS_">
<define name="BARO_SENS" value="18.1" integer="16"/>
</section>
<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
<define name="HOVER_POWER" value="86"/>
conf/airframes/booz2_j1.xml
+6 -3
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@@ -109,12 +109,15 @@
<define name="ALIGNMENT_DPSI" value="BOOZ_ANGLE_I_OF_F(0)"/>
</section>
<section name="INS" prefix="BOOZ_INS_">
<define name="BARO_SENS" value="18.1" integer="16"/>
</section>
<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
<define name="HOVER_POWER" value="95"/>
<define name="HOVER_KP" value="-200"/>
<define name="HOVER_KD" value="-100"/>
<define name="HOVER_KI" value="-50"/>
<define name="HOVER_KP" value="-300"/>
<define name="HOVER_KD" value="-200"/>
<define name="HOVER_KI" value="-75"/>
</section>
conf/autopilot/booz2_autopilot.makefile
+5 -2
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@@ -114,13 +114,16 @@ ap.srcs += $(BOOZ_PRIV)/booz_trig_int.c
ap.srcs += $(BOOZ_PRIV)/booz2_stabilization.c
ap.srcs += $(BOOZ_PRIV)/booz2_stabilization_rate.c
ap.srcs += $(BOOZ_PRIV)/booz2_stabilization_attitude.c
#ap.srcs += $(BOOZ_PRIV)/booz_supervision_int.c
ap.srcs += $(BOOZ_PRIV)/booz2_guidance_h.c
ap.srcs += $(BOOZ_PRIV)/booz2_guidance_v.c
ap.srcs += $(BOOZ_PRIV)/booz2_ins.c
# vertical filter dummy complementary
#ap.CFLAGS += -DUSE_VFD
# vertical filter float version
ap.srcs += $(BOOZ_PRIV)/booz2_vf_float.c
ap.CFLAGS += -DUSE_VFF -DDT_VFILTER="(1./512.)" -DFLOAT_T=float
#ap.CFLAGS += -DNAV_ENAC
ap.srcs += $(BOOZ_PRIV)/booz2_navigation.c
conf/messages.xml
+11 -6
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@@ -783,11 +783,10 @@
</message>
<message name="BOOZ2_VERT_LOOP" id="145">
<field name="z_sp" type="int32"/>
<field name="z_meas" type="int32"/>
<field name="zd_est" type="int32"/>
<field name="sum_err" type="int32"/>
<field name="g_est" type="int32"/>
<field name="z_sp" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="z_meas" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="zd_est" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="sum_err" type="int32" />
<field name="delta_t" type="int32"/>
</message>
@@ -846,9 +845,15 @@
<field name="ua_psi" type="int32"/>
</message>
<message name="BOOZ2_INS" id="151">
<field name="baro_alt" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="ins_z" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="ins_zd" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="ins_zdd" type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
</message>
<message name="WT" id="151">
<message name="WT" id="152">
<field name="rpm" type="float"/>
</message>
conf/telemetry/telemetry_booz2.xml
+2 -1
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@@ -65,7 +65,8 @@
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="0.9"/>
<message name="BOOZ2_VERT_LOOP" period=".05"/>
<message name="BOOZ2_CMD" period=".05"/>
<!-- <message name="BOOZ2_CMD" period=".05"/> -->
<message name="BOOZ2_INS" period=".05"/>
</mode>
<mode name="h_loop">