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[conf] cleaup some airframe files

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no feedforward gains in rate control anymore...
This commit is contained in:
Felix Ruess
2015-12-02 00:26:06 +01:00
parent 3a50277747
commit ed3408c4b8
6 changed files with 3 additions and 47 deletions
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conf/airframes/TUDelft/airframes/asctec_freek.xml
+3 -9
View File
@@ -121,7 +121,6 @@
<define name="DEADBAND_P" value="20"/> <define name="DEADBAND_P" value="20"/>
<define name="DEADBAND_Q" value="20"/> <define name="DEADBAND_Q" value="20"/>
<define name="DEADBAND_R" value="200"/> <define name="DEADBAND_R" value="200"/>
<define name="REF_TAU" value="4"/>
<!-- feedback --> <!-- feedback -->
<define name="GAIN_P" value="400"/> <define name="GAIN_P" value="400"/>
@@ -131,11 +130,6 @@
<define name="IGAIN_P" value="75"/> <define name="IGAIN_P" value="75"/>
<define name="IGAIN_Q" value="75"/> <define name="IGAIN_Q" value="75"/>
<define name="IGAIN_R" value="50"/> <define name="IGAIN_R" value="50"/>
<!-- feedforward -->
<define name="DDGAIN_P" value="300"/>
<define name="DDGAIN_Q" value="300"/>
<define name="DDGAIN_R" value="300"/>
</section> </section>
@@ -195,9 +189,9 @@
</section> </section>
<section name="SIMULATOR" prefix="NPS_"> <section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;nw_motor&quot;, &quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;}"/> <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="&quot;simple_x_quad&quot;"/> <define name="JSBSIM_MODEL" value="simple_x_quad" type="string"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/> <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) --> <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
<define name="JS_AXIS_MODE" value="4"/> <define name="JS_AXIS_MODE" value="4"/>
</section> </section>
conf/airframes/TUDelft/airframes/bebop2_indi.xml
-6
View File
@@ -100,7 +100,6 @@
<define name="DEADBAND_P" value="20"/> <define name="DEADBAND_P" value="20"/>
<define name="DEADBAND_Q" value="20"/> <define name="DEADBAND_Q" value="20"/>
<define name="DEADBAND_R" value="200"/> <define name="DEADBAND_R" value="200"/>
<define name="REF_TAU" value="4"/>
<!-- feedback --> <!-- feedback -->
<define name="GAIN_P" value="400"/> <define name="GAIN_P" value="400"/>
@@ -110,11 +109,6 @@
<define name="IGAIN_P" value="75"/> <define name="IGAIN_P" value="75"/>
<define name="IGAIN_Q" value="75"/> <define name="IGAIN_Q" value="75"/>
<define name="IGAIN_R" value="50"/> <define name="IGAIN_R" value="50"/>
<!-- feedforward -->
<define name="DDGAIN_P" value="300"/>
<define name="DDGAIN_Q" value="300"/>
<define name="DDGAIN_R" value="300"/>
</section> </section>
<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_"> <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
conf/airframes/TUDelft/airframes/bebop_mavlink.xml
-6
View File
@@ -135,7 +135,6 @@
<define name="DEADBAND_P" value="20"/> <define name="DEADBAND_P" value="20"/>
<define name="DEADBAND_Q" value="20"/> <define name="DEADBAND_Q" value="20"/>
<define name="DEADBAND_R" value="200"/> <define name="DEADBAND_R" value="200"/>
<define name="REF_TAU" value="4"/>
<!-- feedback --> <!-- feedback -->
<define name="GAIN_P" value="400"/> <define name="GAIN_P" value="400"/>
@@ -145,11 +144,6 @@
<define name="IGAIN_P" value="75"/> <define name="IGAIN_P" value="75"/>
<define name="IGAIN_Q" value="75"/> <define name="IGAIN_Q" value="75"/>
<define name="IGAIN_R" value="50"/> <define name="IGAIN_R" value="50"/>
<!-- feedforward -->
<define name="DDGAIN_P" value="300"/>
<define name="DDGAIN_Q" value="300"/>
<define name="DDGAIN_R" value="300"/>
</section> </section>
<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_"> <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
conf/airframes/TUDelft/airframes/heli450.xml
-6
View File
@@ -121,7 +121,6 @@
<define name="DEADBAND_P" value="20"/> <define name="DEADBAND_P" value="20"/>
<define name="DEADBAND_Q" value="20"/> <define name="DEADBAND_Q" value="20"/>
<define name="DEADBAND_R" value="200"/> <define name="DEADBAND_R" value="200"/>
<define name="REF_TAU" value="4"/>
<!-- feedback --> <!-- feedback -->
<define name="GAIN_P" value="400"/> <define name="GAIN_P" value="400"/>
@@ -131,11 +130,6 @@
<define name="IGAIN_P" value="75"/> <define name="IGAIN_P" value="75"/>
<define name="IGAIN_Q" value="75"/> <define name="IGAIN_Q" value="75"/>
<define name="IGAIN_R" value="50"/> <define name="IGAIN_R" value="50"/>
<!-- feedforward -->
<define name="DDGAIN_P" value="300"/>
<define name="DDGAIN_Q" value="300"/>
<define name="DDGAIN_R" value="300"/>
</section> </section>
conf/airframes/TUDelft/airframes/logo600.xml
-14
View File
@@ -154,7 +154,6 @@
<define name="DEADBAND_P" value="20"/> <define name="DEADBAND_P" value="20"/>
<define name="DEADBAND_Q" value="20"/> <define name="DEADBAND_Q" value="20"/>
<define name="DEADBAND_R" value="200"/> <define name="DEADBAND_R" value="200"/>
<define name="REF_TAU" value="4"/>
<!-- feedback --> <!-- feedback -->
<define name="GAIN_P" value="100"/> <define name="GAIN_P" value="100"/>
@@ -164,11 +163,6 @@
<define name="IGAIN_P" value="0"/> <define name="IGAIN_P" value="0"/>
<define name="IGAIN_Q" value="0"/> <define name="IGAIN_Q" value="0"/>
<define name="IGAIN_R" value="0"/> <define name="IGAIN_R" value="0"/>
<!-- feedforward -->
<define name="DDGAIN_P" value="0"/>
<define name="DDGAIN_Q" value="0"/>
<define name="DDGAIN_R" value="0"/>
</section> </section>
@@ -227,14 +221,6 @@
<define name="IGAIN" value="20"/> <define name="IGAIN" value="20"/>
</section> </section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;nw_motor&quot;, &quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;}"/>
<define name="JSBSIM_MODEL" value="&quot;simple_x_quad&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
<define name="JS_AXIS_MODE" value="4"/>
</section>
<section name="AUTOPILOT"> <section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_RC_DIRECT"/> <define name="MODE_MANUAL" value="AP_MODE_RC_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/> <define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
conf/airframes/examples/bebop2_indi.xml
-6
View File
@@ -108,7 +108,6 @@
<define name="DEADBAND_P" value="20"/> <define name="DEADBAND_P" value="20"/>
<define name="DEADBAND_Q" value="20"/> <define name="DEADBAND_Q" value="20"/>
<define name="DEADBAND_R" value="200"/> <define name="DEADBAND_R" value="200"/>
<define name="REF_TAU" value="4"/>
<!-- feedback --> <!-- feedback -->
<define name="GAIN_P" value="400"/> <define name="GAIN_P" value="400"/>
@@ -118,11 +117,6 @@
<define name="IGAIN_P" value="75"/> <define name="IGAIN_P" value="75"/>
<define name="IGAIN_Q" value="75"/> <define name="IGAIN_Q" value="75"/>
<define name="IGAIN_R" value="50"/> <define name="IGAIN_R" value="50"/>
<!-- feedforward -->
<define name="DDGAIN_P" value="300"/>
<define name="DDGAIN_Q" value="300"/>
<define name="DDGAIN_R" value="300"/>
</section> </section>
<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_"> <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">