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Fix CDW airframes

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This commit is contained in:
Christophe De Wagter
2011-11-21 17:43:24 +01:00
parent 8fa33298e0
commit f0eaa02db7
8 changed files with 15 additions and 1310 deletions
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conf/airframes/TU_Delft/MicrojetBR.xml
+7 -11
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@@ -71,14 +71,10 @@
<define name="CORRECTION_RIGHT" value="1."/>
</section>
<section name="GYRO" prefix="GYRO_">
<define name="ADC_ROLL_NEUTRAL" value="450"/>
<define name="DYNAMIC_RANGE" value="150" unit="deg/s"/>
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+2.2))"/>
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
<define name="ROLL_SCALE" value="3.0*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
<define name="ROLL_DIRECTION" value="1."/>
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_SIGN" value="1"/>
<define name="GYRO_P_NEUTRAL" value="500"/>
<define name="GYRO_P_SENS" value="0.137518981" integer="16"/>
</section>
<section name="BAT">
@@ -258,10 +254,10 @@
</subsystem>
<!-- Sensors -->
<!-- <subsystem name="gyro" type="roll">
<configure name="ADC_GYRO_ROLL" value="ADC_3" />
<subsystem name="imu" type="analog">
<configure name="GYRO_P" value="ADC_3" />
</subsystem>
--> <subsystem name="ahrs" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="control" />
<subsystem name="navigation" type="extra"/>