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misc typo

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This commit is contained in:
Pascal Brisset
2007-03-02 08:57:15 +00:00
parent fd8810f49d
commit f8e203fb82
11 changed files with 69 additions and 25 deletions
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conf/airframes/funjet1.xml
+5 -4
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@@ -13,6 +13,7 @@
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="HATCH" failsafe_value="0"/>
</commands>
<rc_commands>
@@ -144,15 +145,15 @@
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
<define name="ROLL_PGAIN" value="5000."/>
<define name="ROLL_PGAIN" value="13000."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-9000."/>
<define name="PITCH_PGAIN" value="-14000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/>
<!-- roll rate loop -->
<define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
<define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
<define name="ROLL_RATE_SETPOINT_PGAIN" value="-14." unit="rad/s/rad"/>
<define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
<define name="LO_THROTTLE_ROLL_RATE_PGAIN" value="1000."/>
<define name="HI_THROTTLE_ROLL_RATE_PGAIN" value="1000."/>
@@ -247,7 +248,7 @@ ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
ap.CFLAGS += -DGYRO -DADXRS150
ap.srcs += gyro.c nav_line.c chemotaxis.c anemotaxis.c discsurvey.c
ap.srcs += traffic_info.c
ap.srcs += traffic_info.c bomb.c
# Hack to use the same tuning file than slayer1
conf/airframes/microjet6.xml
+1 -1
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@@ -98,7 +98,7 @@
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="14." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/>
conf/airframes/minimag1.xml
+4 -3
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@@ -21,6 +21,7 @@
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="HATCH" failsafe_value="0"/>
</commands>
<rc_commands>
@@ -121,7 +122,7 @@
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
<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_DASH_TRIM" value="-500"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
@@ -244,8 +245,8 @@ ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
# ap.CFLAGS += -DGYRO -DADXRS150
# ap.srcs += gyro.c
# ap.srcs += bomb.c
ap.srcs += traffic_info.c
ap.srcs += bomb.c
# Hack to use the same tuning file than slayer1
ap.CFLAGS += -DUSE_GPIO
@@ -261,7 +262,7 @@ ap.srcs += $(SRC_ARCH)/gpio.c
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN -DIR_360
sim.srcs += traffic_info.c
# sim.srcs += bomb.c
sim.srcs += bomb.c
</makefile>
</airframe>
conf/airframes/twinjet1.xml
+1 -1
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@@ -157,7 +157,7 @@
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.60"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value=".45"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.8"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="2000"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1500"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
conf/flight_plans/IS.xml
+14 -8
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@@ -10,10 +10,10 @@
</header>
<waypoints>
<waypoint name="HOME" x="0" y="0"/>
<waypoint name="AF" x="-200" y="100" alt="215"/>
<waypoint name="AF" x="200" y="-10" alt="215"/>
<waypoint name="TOD" x="-150" y="0"/>
<waypoint name="OVERRUN" x="50" y="0"/>
<waypoint name="TD" x="100" y="0" alt="185"/>
<waypoint name="TD" x="80" y="20" alt="185"/>
<waypoint name="1" x="-75" y="75"/>
<waypoint name="2" x="75" y="75"/>
<waypoint name="MOB" x="200" y="200"/>
@@ -42,27 +42,27 @@
</block>
-->
<block name="wait">
<circle radius="75" wp="1"/>
<block name="wait" strip_button="0">
<circle radius="nav_radius" wp="1"/>
</block>
<block name="eight 1" strip_button="8">
<eight radius="75" center="1" turn_around="2"/>
<eight radius="nav_radius" center="1" turn_around="2"/>
</block>
<block name="Line" strip_button="Line">
<call fun="nav_line_init()"/>
<call fun="nav_line(WP_1, WP_2, 75)"/>
<call fun="nav_line(WP_1, WP_2, nav_radius)"/>
</block>
<block name="oval">
<oval p1="1" p2="2" radius="80"/>
<oval p1="1" p2="2" radius="nav_radius"/>
</block>
<block name="MOB">
<call fun="NavSetWaypointHere(WP_MOB)"/>
<circle wp="MOB" radius="100"/>
<circle wp="MOB" radius="nav_radius"/>
</block>
<block name="Anemotaxis" strip_button="Anem">
@@ -89,9 +89,11 @@
<call fun="disc_survey(WP_HOME, 350)"/>
</block>
<!--
<block name="circle 1 auto pitch">
<circle radius="75" wp="1" pitch="auto" throttle="0.7"/>
</block>
-->
<block name="circle left 1">
<circle radius="-75" wp="1"/>
@@ -166,8 +168,12 @@
<block name="final">
<exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
<!--
<go alt="baseleg_alt" approaching_time="16" from="AF" hmode="route" wp="TD"/>
<go approaching_time="2" from="AF" hmode="route" throttle="0.1" vmode="throttle" wp="TD"/>
-->
<go from="AF" hmode="route" vmode="glide" wp="TD"/>
</block>
<block name="flare">
conf/flight_plans/versatile.xml
+31
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@@ -11,6 +11,15 @@
<waypoint name="MOB" x="200" y="200"/>
<waypoint name="S1" x="-200" y="-200"/>
<waypoint name="S2" x="300" y="400"/>
<waypoint name="AF" x="200" y="-10" alt="215"/>
<waypoint name="TOD" x="-150" y="0"/>
<waypoint name="OVERRUN" x="50" y="0"/>
<waypoint name="TD" x="80" y="20" alt="185"/>
<waypoint name="BASELEG" x="400" y="300"/>
<waypoint name="RELEASE" x="400" y="300"/>
<waypoint name="TARGET" x="300" y="300"/>
<waypoint name="START" x="300" y="300"/>
<waypoint name="CLIMB" x="300" y="300"/>
</waypoints>
<blocks>
<block name="wait GPS">
@@ -85,6 +94,28 @@
<survey_rectangle grid="150" wp1="S1" wp2="S2"/>
</block>
<block name="land">
<set value="compute_baseleg()" var="unit"/>
<circle radius="BOMB_RADIUS" until="NavCircleCount() > 0.5" wp="BASELEG"/>
<set value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" var="v_ctl_auto_throttle_cruise_throttle"/>
<circle radius="BOMB_RADIUS" until="NavQdrCloseTo(DegOfRad(bomb_start_qdr)-10) && baseleg_alt_tolerance > fabs(estimator_z - baseleg_alt)" wp="BASELEG"/>
</block>
<block name="final">
<exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
<!--
<go alt="baseleg_alt" approaching_time="16" from="AF" hmode="route" wp="TD"/>
<go approaching_time="2" from="AF" hmode="route" throttle="0.1" vmode="throttle" wp="TD"/>
-->
<go from="AF" hmode="route" vmode="glide" wp="TD"/>
</block>
<block name="flare">
<go approaching_time="0" from="AF" hmode="route" throttle="0.0" vmode="throttle" wp="TD"/>
<attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
</block>
<block name="follow">
<follow ac_id="7" distance="25" height="10"/>
conf/settings/settings.dtd
+1 -1
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@@ -33,6 +33,6 @@ handler CDATA #IMPLIED
<!ATTLIST strip_button
name CDATA #REQUIRED
value CDATA #REQUIRED
value CDATA #IMPLIED
>
conf/settings/tuning.xml
+3 -3
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@@ -53,10 +53,10 @@
</dl_settings>
<dl_settings name="auto_throttle">
<dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle">
<dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" module="fw_v_ctl" handler="SetCruiseThrottle">
<strip_button name="Dash" value="1"/>
<strip_button name="Loiter" value="0.47"/>
<strip_button name="Cruise" value="0.65"/>
<strip_button name="Loiter" value="0.1"/>
<strip_button name="Cruise" value="0"/>
</dl_setting>
sw/airborne/datalink.c
+3 -3
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@@ -110,9 +110,9 @@ void dl_parse_msg(void) {
#ifdef DlSetting
else if (msg_id == DL_SETTING) {
uint8_t i = DL_SETTING_index(dl_buffer);
float var = DL_SETTING_value(dl_buffer);
DlSetting(i, var);
DOWNLINK_SEND_DL_VALUE(&i, &var);
float val = DL_SETTING_value(dl_buffer);
DlSetting(i, val);
DOWNLINK_SEND_DL_VALUE(&i, &val);
}
#endif /** Else there is no dl_settings section in the flight plan */
}
sw/airborne/fw_v_ctl.h
+5
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@@ -89,4 +89,9 @@ extern void v_ctl_climb_loop ( void );
/** Computes throttle_slewed from throttle_setpoint */
extern void v_ctl_throttle_slew( void );
#define fw_v_ctl_SetCruiseThrottle(_v) { \
v_ctl_auto_throttle_cruise_throttle = (_v ? _v : v_ctl_auto_throttle_nominal_cruise_throttle); \
Bound(v_ctl_auto_throttle_cruise_throttle, V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE, V_CTL_AUTO_THROTTLE_MAX_CRUISE_THROTTLE); \
}
#endif /* FW_V_CTL_H */
sw/tools/gen_settings.ml
+1 -1
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@@ -81,7 +81,7 @@ let print_dl_settings = fun settings ->
try
let h = ExtXml.attrib s "handler" and
m = ExtXml.attrib s "module" in
lprintf "case %d: %s_%s( _value ); break;\\\n" !idx m h
lprintf "case %d: %s_%s( _value ); _value = %s; break;\\\n" !idx m h v
with
ExtXml.Error e -> lprintf "case %d: %s = _value; break;\\\n" !idx v
end;