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This commit is contained in:
Antoine Drouin
2008-11-25 01:20:11 +00:00
parent 88989239f9
commit f20f476bce
4 changed files with 28 additions and 28 deletions
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conf/airframes/booz2_a1.xml
+15 -19
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@@ -35,37 +35,33 @@
<define name="GYRO_Y_NEUTRAL" value="33417"/>
<define name="GYRO_Z_NEUTRAL" value="32809"/>
<define name="GYRO_X_SENS" value="( 4000.)"/>
<define name="GYRO_Y_SENS" value="(-4000.)"/>
<define name="GYRO_Z_SENS" value="(-4000.)"/>
<define name="GYRO_X_SENS" value=" 1.01" integer="16"/>
<define name="GYRO_Y_SENS" value="-1.01" integer="16"/>
<define name="GYRO_Z_SENS" value="-1.01" integer="16"/>
<define name="ACCEL_X_CHAN" value="3"/>
<define name="ACCEL_Y_CHAN" value="5"/>
<define name="ACCEL_Z_CHAN" value="6"/>
<define name="ACCEL_X_NEUTRAL" value="32068"/>
<define name="ACCEL_Y_NEUTRAL" value="33731"/>
<define name="ACCEL_Z_NEUTRAL" value="32439"/>
<define name="ACCEL_X_SENS" value="( -410)"/><!-- 409.58772 -->
<define name="ACCEL_Y_SENS" value="( -414)"/><!-- 414.00958 -->
<define name="ACCEL_Z_SENS" value="( -409)"/><!-- 408.84626 -->
<define name="ACCEL_X_SENS" value="-2.50411474" integer="16"/>
<define name="ACCEL_Y_SENS" value="-2.48126183" integer="16"/>
<define name="ACCEL_Z_SENS" value="-2.51396167" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="32081"/>
<define name="ACCEL_Y_NEUTRAL" value="33738"/>
<define name="ACCEL_Z_NEUTRAL" value="32441"/>
<define name="MAG_X_CHAN" value="4"/>
<define name="MAG_Y_CHAN" value="0"/>
<define name="MAG_Z_CHAN" value="2"/>
<define name="MAG_X_NEUTRAL" value="2358"/>
<define name="MAG_Y_NEUTRAL" value="2362"/>
<define name="MAG_Z_NEUTRAL" value="2119"/>
<define name="MAG_X_SENS" value="-414."/><!-- 414.51787 -->
<define name="MAG_Y_SENS" value=" 401."/><!-- 401.40112 -->
<define name="MAG_Z_SENS" value="-417."/><!-- 417.2869 -->
<define name="MAG_Z_SENS_FOO" value="-0.0024124412" integer="16"/>
<define name="MAG_X_SENS" value="-4.94075530" integer="16"/>
<define name="MAG_Y_SENS" value="5.10207664" integer="16"/>
<define name="MAG_Z_SENS" value="-4.90788848" integer="16"/>
</section>
@@ -96,15 +92,15 @@
<define name="PSI_PGAIN" value="-380"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_DDGAIN" value="0"/>
<define name="PSI_DDGAIN" value=" 300"/>
<define name="PSI_IGAIN" value="-75"/>
</section>
<section name="FILTER" prefix="FILTER_">
<define name="ALIGNMENT_DPHI" value="BOOZ_ANGLE_I_OF_F(RadOfDeg(4.))"/>
<define name="ALIGNMENT_DPHI" value="BOOZ_ANGLE_I_OF_F(RadOfDeg(4.))"/>
<define name="ALIGNMENT_DTHETA" value="BOOZ_ANGLE_I_OF_F(RadOfDeg(3.))"/>
<define name="ALIGNMENT_DPSI" value="BOOZ_ANGLE_I_OF_F(0.)"/>
<define name="ALIGNMENT_DPSI" value="BOOZ_ANGLE_I_OF_F(0.)"/>
</section>
conf/autopilot/booz2_autopilot.makefile
+2
View File
@@ -116,6 +116,8 @@ 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.CFLAGS += -DHS_YAW
# Joystick
ap.CFLAGS += -DUSE_DATALINK_FMS -DFMS_USE_COMMANDS_RAW
ap.srcs += $(BOOZ_PRIV)/booz2_fms.c
conf/messages.xml
+8 -9
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@@ -933,12 +933,12 @@
</message>
<message name="BOOZ2_FILTER" ID="134">
<field name="phi" type="int32"/>
<field name="theta" type="int32"/>
<field name="psi" type="int32"/>
<field name="measure_phi" type="int32"/>
<field name="measure_theta" type="int32"/>
<field name="measure_psi" type="int32"/>
<field name="phi" type="int32" alt_unit="degres" alt_unit_coef="0.0139882"/>
<field name="theta" type="int32" alt_unit="degres" alt_unit_coef="0.0139882"/>
<field name="psi" type="int32" alt_unit="degres" alt_unit_coef="0.0139882"/>
<field name="measure_phi" type="int32" alt_unit="degres" alt_unit_coef="0.0000273"/>
<field name="measure_theta" type="int32" alt_unit="degres" alt_unit_coef="0.0000273"/>
<field name="measure_psi" type="int32" alt_unit="degres" alt_unit_coef="0.0000273"/>
<field name="corrected_phi" type="int32"/>
<field name="corrected_theta" type="int32"/>
<field name="corrected_psi" type="int32"/>
@@ -1037,11 +1037,10 @@
<field name="p_ref" type="int32" alt_unit="degres/s" alt_unit_coef="0.0008743"/>
<field name="pd_ref" type="int32" alt_unit="degres/s2" alt_unit_coef="0.0139882"/>
<field name="m_phi" type="int32" alt_unit="degres" alt_unit_coef="0.0139882"/>
<field name="m_p" type="int32" alt_unit="degres/s" alt_unit_coef="0.0139882"/>
<field name="m_p" type="int32" alt_unit="degres/s" alt_unit_coef="0.0139882"/>
<field name="sum_err_phi" type="int32"/>
<field name="delta_a" type="int32"/>
</message>
</message>
<message name="BOOZ2_CMD" ID="143">
conf/settings/settings_booz2.xml
+3
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@@ -25,6 +25,9 @@
<dl_setting var="booz_stabilization_igain.x" min="-300" step="1" max="0" module="booz2_stabilization_attitude" shortname="igain phi"/>
<dl_setting var="booz_stabilization_igain.y" min="-300" step="1" max="0" module="booz2_stabilization_attitude" shortname="igain theta"/>
<dl_setting var="booz_stabilization_igain.z" min="-300" step="1" max="0" module="booz2_stabilization_attitude" shortname="igain psi"/>
<dl_setting var="booz_stabilization_ddgain.x" min="0" step="1" max="500" module="booz2_stabilization_attitude" shortname="ddgain p"/>
<dl_setting var="booz_stabilization_ddgain.y" min="0" step="1" max="500" module="booz2_stabilization_attitude" shortname="ddgain q"/>
<dl_setting var="booz_stabilization_ddgain.z" min="0" step="1" max="500" module="booz2_stabilization_attitude" shortname="ddgain r"/>
</dl_settings>
<dl_settings NAME="Vert Loop">