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save tuning

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Pascal Brisset
2010-04-22 11:01:31 +00:00
parent 15950af971
commit f4960ad585
1 changed files with 31 additions and 19 deletions
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conf/airframes/ENAC/fixed-wing/twinjet2.xml
+31 -19
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@@ -7,11 +7,12 @@
<airframe name="Twinjet 2 Tiny 2.12">
<!--
<modules>
<load name="demo_module.xml"/>
<!--load name="adp_roll.xml"/-->
<!--load name="ins_vn100.xml"/-->
<!--load name="ets_module_sensors.xml"/-->
<load name="infrared_i2c.xml"/>
</modules>
-->
<!-- commands section -->
<servos>
@@ -74,20 +75,22 @@
<define name="LATERAL_CORRECTION" value="1."/>
<define name="LONGITUDINAL_CORRECTION" value="1."/>
<define name="VERTICAL_CORRECTION" value="1."/>
<define name="VERTICAL_CORRECTION" value="1.25"/>
<define name="HORIZ_SENSOR_TILTED" value="1"/>
<define name="IR1_SIGN" value="-1"/>
<define name="IR2_SIGN" value="1"/>
<define name="TOP_SIGN" value="1"/>
<define name="ROLL_NEUTRAL_DEFAULT" value="-2.29183125496" unit="deg"/>
<define name="ROLL_NEUTRAL_DEFAULT" value="-1.146" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0.15" unit="deg"/>
<define name="CORRECTION_UP" value="1."/>
<define name="CORRECTION_DOWN" value="1."/>
<define name="CORRECTION_LEFT" value="1."/>
<define name="CORRECTION_RIGHT" value="1."/>
<define name="I2C_DEFAULT_CONF" value="1"/>
</section>
<!--
@@ -126,44 +129,45 @@
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.04"/>
<define name="ALTITUDE_PGAIN" value="-0.0450000017881"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.305000007153"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.00999999977648"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.0670000016689"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
<define name="AUTO_PITCH_IGAIN" value="0.075"/>
<define name="AUTO_PITCH_PGAIN" value="-0.00999999977648"/>
<define name="AUTO_PITCH_IGAIN" value="0.194000005722"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
<define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.15"/>
<define name="THROTTLE_SLEW" value="0.3"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.39999997616"/>
<define name="COURSE_PGAIN" value="-1.2009999752"/>
<define name="ROLL_MAX_SETPOINT" value="0.600000023842" unit="radians"/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
<define name="PITCH_PGAIN" value="-12000."/>
<define name="PITCH_PGAIN" value="-15762.1953125"/>
<define name="PITCH_DGAIN" value="0."/>
<define name="ELEVATOR_OF_ROLL" value="2500"/>
<define name="ELEVATOR_OF_ROLL" value="1541."/>
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
<define name="ROLL_ATTITUDE_GAIN" value="-6500."/>
<define name="ROLL_RATE_GAIN" value="-1500"/>
</section>
@@ -237,7 +241,7 @@ ap.CFLAGS += -DRADIO_CONTROL
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
########## Modems
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B9600
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
#TRANSPARENT
@@ -267,9 +271,17 @@ ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
ap.srcs += nav_survey_rectangle.c
ap.srcs += nav_line.c
########## SPI Master use slave0
#ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0
#ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c
########## Barometer (SPI)
#ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DUSE_BARO_MS5534A
#ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c
#ap.CFLAGS += -DUSE_BARO_MS5534A
#ap.srcs += $(SRC_ARCH)/baro_MS5534A.c
########## I2C0
ap.CFLAGS += -DUSE_I2C0
ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
########## Lights
ap.CFLAGS += -DUSE_LIGHT