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update some example airframes for new gyro stuff

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This commit is contained in:
Felix Ruess
2011-10-31 19:35:15 +01:00
parent ba9da3f6ea
commit f466899519
4 changed files with 21 additions and 40 deletions
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conf/airframes/jsbsim.xml
+7 -14
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@@ -50,10 +50,6 @@
<define name="IR2" value="ADC_2"/> <define name="IR2" value="ADC_2"/>
<define name="IR_TOP" value="ADC_0"/> <define name="IR_TOP" value="ADC_0"/>
<define name="IR_NB_SAMPLES" value="16"/> <define name="IR_NB_SAMPLES" value="16"/>
<define name="GYRO_ROLL" value="ADC_3"/>
<define name="GYRO_NB_SAMPLES" value="16"/>
</section> </section>
<section name="INFRARED" prefix="IR_"> <section name="INFRARED" prefix="IR_">
@@ -78,15 +74,10 @@
<define name="CORRECTION_RIGHT" value="1."/> <define name="CORRECTION_RIGHT" value="1."/>
</section> </section>
<section name="GYRO" prefix="GYRO_"> <section name="IMU" prefix="IMU_">
<define name="ADC_ROLL_NEUTRAL" value="520"/> <define name="GYRO_P_SIGN" value="-1."/>
<define name="ADC_TEMP_NEUTRAL" value="476"/> <define name="GYRO_P_NEUTRAL" value="512"/>
<define name="ADC_TEMP_SLOPE" value="0"/> <define name="GYRO_P_SENS" value="1." integer="16"/>
<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
<define name="ROLL_DIRECTION" value="-1."/>
</section> </section>
<section name="BAT"> <section name="BAT">
@@ -215,7 +206,9 @@
<subsystem name="control"/> <subsystem name="control"/>
<!-- Sensors --> <!-- Sensors -->
<subsystem name="gyro" type="roll"/> <subsystem name="imu" type="analog_gyro">
<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="gps" type="ublox_utm"/>
<subsystem name="navigation"/> <subsystem name="navigation"/>
conf/airframes/microjet_example.xml
+7 -11
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@@ -67,19 +67,15 @@
<define name="CORRECTION_RIGHT" value="1."/> <define name="CORRECTION_RIGHT" value="1."/>
</section> </section>
<!--section name="GYRO" prefix="GYRO_">
<define name="ADC_ROLL_NEUTRAL" value="500"/>
<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
<define name="ROLL_DIRECTION" value="1."/>
</section-->
<section name="IMU" prefix="IMU_"> <section name="IMU" prefix="IMU_">
<define name="GYRO_P_SIGN" value="1"/> <define name="GYRO_P_SIGN" value="1"/>
<define name="GYRO_P_NEUTRAL" value="32362"/> <define name="GYRO_P_NEUTRAL" value="500"/>
<define name="GYRO_P_SENS" value="1.1032765" integer="16"/> <!--define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/-->
<!--define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/-->
<!--define name="ROLL_SCALE" value="3.3*1000./1024./(IMU_ADXRS300_SENSITIVITY*IMU_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/-->
<!--define name="RATE_DEGS_TO_RADINT" value="M_PI/180./4096."/-->
<!--define name="GYRO_P_SENS" value="IMU_RATE_DEGS_TO_RADINT * IMU_ROLL_SCALE" integer="16"/-->
<define name="GYRO_P_SENS" value="0.137518981" integer="16"/>
</section> </section>
<section name="BAT"> <section name="BAT">
conf/airframes/osam_xsens_twog.xml
-10
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@@ -123,16 +123,6 @@
<define name="PITCH_NEUTRAL_DEFAULT" value="5.73" unit="deg"/> <define name="PITCH_NEUTRAL_DEFAULT" value="5.73" unit="deg"/>
</section> </section>
<!--
<section name="GYRO" prefix="GYRO_">
<define name="ADC_ROLL_NEUTRAL" value="497"/>
<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(dNOMINALeg/s)"/>
<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
<define name="ROLL_DIRECTION" value="1."/>
</section>
-->
<section name="BAT"> <section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/> <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/> <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
conf/airframes/twinjet_example.xml
+7 -5
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@@ -22,7 +22,9 @@
<subsystem name="telemetry" type="transparent"/> <subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/> <subsystem name="control"/>
<subsystem name="ahrs" type="infrared"/> <subsystem name="ahrs" type="infrared"/>
<subsystem name="gyro" type="roll"/> <subsystem name="imu" type="analog_gyro">
<configure name="GYRO_P" value="ADC_3"/>
</subsystem>
<subsystem name="gps" type="ublox"/> <subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/> <subsystem name="navigation"/>
</firmware> </firmware>
@@ -99,10 +101,10 @@
<define name="CORRECTION_RIGHT" value="1."/> <define name="CORRECTION_RIGHT" value="1."/>
</section> </section>
<section name="GYRO" prefix="GYRO_"> <section name="IMU" prefix="IMU_">
<define name="ADC_ROLL_NEUTRAL" value="316"/> <define name="GYRO_P_SIGN" value="1."/>
<define name="ROLL_DIRECTION" value="1."/> <define name="GYRO_P_NEUTRAL" value="316"/>
<define name="ROLL_SCALE" value="0.44"/> <define name="GYRO_P_SENS" value="1." integer="16"/>
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">