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Changed estimator to ic, renamed servo actuators, set the body to imu rotations.

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Piotr Esden-Tempski
2011-05-05 16:42:47 -07:00
parent 5595c6d789
commit e7a2c2e2b9
1 changed files with 18 additions and 15 deletions
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conf/airframes/esden/synerani_4B.xml
+18 -15
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@@ -3,10 +3,12 @@
<airframe name="synerani_4b">
<servos min="0" neutral="0" max="0xff">
<servo name="FRONT" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="BACK" no="1" min="1000" neutral="1000" max="2000"/>
<servo name="LEFT" no="2" min="1000" neutral="1000" max="2000"/>
<servo name="RIGHT" no="3" min="1000" neutral="1000" max="2000"/>
<servo name="A1" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="A2" no="1" min="1000" neutral="1000" max="2000"/>
<servo name="B1" no="2" min="1000" neutral="1000" max="2000"/>
<servo name="B2" no="3" min="1000" neutral="1000" max="2000"/>
<servo name="AILEVON_LEFT" no="4" min="1000" neutral="1500" max="2000"/>
<servo name="AILEVON_RIGHT" no="5" min="1000" neutral="1500" max="2000"/>
</servos>
<commands>
@@ -15,20 +17,21 @@
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<!--
<command_laws>
<!--<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="aildderon" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="MOTOR" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
-->
<set servo="FRONT" value="0"/>
<set servo="BACK" value="1"/>
<set servo="LEFT" value="2"/>
<set servo="RIGHT" value="3"/>
</command_laws>
-->
<!-- for the sim -->
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
@@ -45,9 +48,9 @@
<define name="TRIM_R" value="0"/>
<define name="NB_MOTOR" value="4"/>
<define name="SCALE" value="256"/>
<define name="ROLL_COEF" value="{ 0 , 0, 256, -256 }"/>
<define name="PITCH_COEF" value="{ 256, -256, 0, 0 }"/>
<define name="YAW_COEF" value="{ -256, -256, 256, 256 }"/>
<define name="ROLL_COEF" value="{ 256, -256, 256, -256 }"/>
<define name="PITCH_COEF" value="{ -256, -256, 256, 256 }"/>
<define name="YAW_COEF" value="{ 0, 0, 0, 0 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
<!--define name="MAX_POSITIVE_MOTOR_STEP" value="5"/-->
</section>
@@ -56,9 +59,9 @@
<section name="IMU" prefix="IMU_">
<define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0. )"/>
<define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0. )"/>
<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 225. )"/>
<define name="BODY_TO_IMU_PHI" value="RadOfDeg( 180. )"/>
<define name="BODY_TO_IMU_THETA" value="RadOfDeg( 90. )"/>
<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 0. )"/>
</section>
@@ -204,8 +207,8 @@
<subsystem name="gps" type="ublox">
<configure name="GPS_BAUD" value="B57600"/>
</subsystem>
<subsystem name="ahrs" type="cmpl"/>
<!--<subsystem name="ahrs" type="ic"/>-->
<!--subsystem name="ahrs" type="cmpl"/-->
<subsystem name="ahrs" type="ic"/>
</firmware>
<firmware name="lisa_l_test_progs">