mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Christophe De Wagter
609241add3
* [airspeed] reduce number of airspeed raw messages: ETS, MS45xx, SDP3x, UAVCAN -> RAW * compile warning * typo * Update sw/airborne/modules/sensors/airspeed_ms45xx_i2c.h * warning * UAVCAN -> RAW * ETS register airspeed * AIRSPEED_RAW in telemetry * cleanup SYNC-SEND but use register-telemetry instead * [ardrone] Fix values variable * [sim] Fix compile warnings discaring const * [modules] Fix airspeed ETS --------- Co-authored-by: Freek van Tienen <freek.v.tienen@gmail.com>
391 lines
16 KiB
XML
391 lines
16 KiB
XML
<!-- this is a quadshot vehicle equiped with Lisa/m2.0 and an aspirin 2.1
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More information on the Quadshot can be found at transition-robotics.com -->
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<airframe name="quadshot aspirin 2.1 spektrum">
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<servos driver="Pwm">
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<servo name="A1" no="0" min="1000" neutral="1100" max="1600"/>
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<servo name="A2" no="1" min="1000" neutral="1100" max="1600"/>
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<servo name="B1" no="2" min="1000" neutral="1100" max="1600"/>
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<servo name="B2" no="3" min="1000" neutral="1100" max="1600"/>
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<!-- <servo name="A1" no="0" min="1000" neutral="1000" max="2000"/>
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<servo name="A2" no="1" min="1000" neutral="1000" max="2000"/>
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<servo name="B1" no="2" min="1000" neutral="1000" max="2000"/>
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<servo name="B2" no="3" min="1000" neutral="1000" max="2000"/>-->
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<!-- <servo name="ELEVON_LEFT" no="4" min="1150" neutral="1500" max="1850"/>
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<servo name="ELEVON_RIGHT" no="5" min="1150" neutral="1500" max="1850"/>-->
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<servo name="ELEVON_LEFT" no="4" min="1300" neutral="1500" max="1700"/>
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<servo name="ELEVON_RIGHT" no="5" min="1300" neutral="1500" max="1700"/>
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<servo name="CAMERA_MOUNT" no="6" min="2000" neutral="1500" max="1000"/>
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</servos>
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<commands>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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<axis name="THRUST" failsafe_value="0"/>
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<axis name="CAMERA" failsafe_value="0"/>
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</commands>
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<command_laws>
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<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
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<set servo="A1" value="motor_mixing.commands[0]"/>
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<set servo="A2" value="motor_mixing.commands[1]"/>
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<set servo="B1" value="motor_mixing.commands[2]"/>
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<set servo="B2" value="motor_mixing.commands[3]"/>
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<!-- Mode dependent actuator laws for the elevons. The elevons act different in rc attitude flight mode-->
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<!-- First the correct feedback is stored in variables -->
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<let var="aileron_feedback_left" value="-@YAW"/>
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<let var="aileron_feedback_right" value="-@YAW"/>
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<let var="elevator_feedback_left" value="-@PITCH"/>
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<let var="elevator_feedback_right" value="+@PITCH"/>
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<!-- Here the gains are defined for the two feedback cases, hover and forward-->
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<let var="hover_left" value="10*$aileron_feedback_left"/>
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<let var="hover_right" value="10*$aileron_feedback_right"/>
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<!-- if using INDI -->
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<!-- <let var="forward_left" value="aileron_gain*$aileron_feedback_left+elevator_gain*$elevator_feedback_left"/>
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<let var="forward_right" value="aileron_gain*$aileron_feedback_right+elevator_gain*$elevator_feedback_right"/>-->
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<!-- if using PID with gain scheduling -->
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<let var="forward_left" value="3*$aileron_feedback_left + 4*$elevator_feedback_left"/>
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<let var="forward_right" value="3*$aileron_feedback_right + 4*$elevator_feedback_right"/>
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<!-- This statement tells the autopilot to use the hover feedback if in mode attitude direct and to use the forward feedback in all other cases-->
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<set servo="ELEVON_LEFT" value="AP_MODE == AP_MODE_ATTITUDE_DIRECT ? $hover_left : $forward_left" />
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<set servo="ELEVON_RIGHT" value="AP_MODE == AP_MODE_ATTITUDE_DIRECT ? $hover_right : $forward_right" />
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<!-- <set servo="ELEVON_RIGHT" value="AP_MODE == AP_MODE_ATTITUDE_DIRECT ? 9000 : -9000" /> -->
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</command_laws>
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<section name="MIXING" prefix="MOTOR_MIXING_">
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<define name="TRIM_ROLL" value="0"/>
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<define name="TRIM_PITCH" value="0"/>
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<define name="TRIM_YAW" value="0"/>
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<define name="NB_MOTOR" value="4"/>
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<define name="SCALE" value="256"/>
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<define name="PITCH_COEF" value="{ -256, -256, 256, 256 }"/>
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<define name="ROLL_COEF" value="{ 256, -256, 256, -256 }"/>
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<define name="YAW_COEF" value="{ -256, 256, 128, -128 }"/>
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<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
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<!-- <define name="PITCH_COEF" value="{ 0, 0, 0, 0 }"/>
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<define name="ROLL_COEF" value="{ 0, 0, 0, 0 }"/>
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<define name="YAW_COEF" value="{ 0, 0, 0, 0 }"/>
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<define name="THRUST_COEF" value="{ 0, 0, 0, 0 }"/>-->
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</section>
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<!-- If you got a caliberation XML document from your IMU supplier, import this in the IMU section -->
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<!-- Note that is better to have *no* caliberation file at all, than a one with incorrect caliberation values.
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The default factory values are most of the time perfectly acceptable, so by default we will not use the caliberation file -->
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<section name="IMU" prefix="IMU_">
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<!-- Use default driver values for gyro -->
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<!-- IMU calibration, make sure to calibrate the IMU properly before flight, see the wiki for more info-->
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<define name="ACCEL_X_NEUTRAL" value="0"/>
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<define name="ACCEL_Y_NEUTRAL" value="0"/>
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<define name="ACCEL_Z_NEUTRAL" value="0"/>
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<define name="ACCEL_X_SENS" value="4.86487566223" integer="16"/>
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<define name="ACCEL_Y_SENS" value="4.89957269597" integer="16"/>
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<define name="ACCEL_Z_SENS" value="4.82616398266" integer="16"/>
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<!-- <define name="MAG_X_NEUTRAL" value="104"/> -->
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<!-- <define name="MAG_Y_NEUTRAL" value="9"/> -->
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<!-- <define name="MAG_Z_NEUTRAL" value="15"/> -->
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<!-- <define name="MAG_X_SENS" value="3.57880347067" integer="16"/> -->
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<!-- <define name="MAG_Y_SENS" value="3.54049742843" integer="16"/> -->
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<!-- <define name="MAG_Z_SENS" value="4.0620533034" integer="16"/> -->
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<define name="MAG_X_NEUTRAL" value="-86"/>
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<define name="MAG_Y_NEUTRAL" value="-36"/>
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<define name="MAG_Z_NEUTRAL" value="35"/>
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<define name="MAG_X_SENS" value="3.98639595061" integer="16"/>
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<define name="MAG_Y_SENS" value="4.00632407649" integer="16"/>
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<define name="MAG_Z_SENS" value="4.17946082997" integer="16"/>
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</section>
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<section name="IMU" prefix="IMU_">
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<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_THETA" value="90." unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
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</section>
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<section name="AUTOPILOT">
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<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
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<define name="MODE_AUTO1" value="AP_MODE_FORWARD"/>
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<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
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<!-- <define name="USE_YAW_FOR_MOTOR_ARMING" value="TRUE"/> -->
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</section>
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<section name="BAT">
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<!-- <define name="MIN_BAT_LEVEL" value="10.8" units="V"/> -->
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<define name="CRITIC_BAT_LEVEL" value="10.8" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="10.8" unit="V"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="10.1" unit="V"/>
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</section>
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<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
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<define name="SP_MAX_P" value="10000"/>
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<define name="SP_MAX_Q" value="10000"/>
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<define name="SP_MAX_R" value="10000"/>
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<define name="GAIN_P" value="350"/>
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<define name="GAIN_Q" value="250"/>
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<define name="GAIN_R" value="350"/>
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<define name="IGAIN_P" value="200"/>
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<define name="IGAIN_Q" value="200"/>
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<define name="IGAIN_R" value="200"/>
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</section>
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<!-- These gains are used when the gain scheduling module is enabled (by loading it in the modules section)-->
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<section name ="GAIN_SETS">
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<define name="NUMBER_OF_GAINSETS" value="2"/>
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<define name="SCHEDULING_VARIABLE" value="guidance_hybrid_norm_ref_airspeed"/>
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<define name="SCHEDULING_POINTS" value="{4, 10}"/>
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<define name="SCHEDULING_VARIABLE_FRAC" value="8"/>
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<define name="PHI_P" value="{150, 150}"/>
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<define name="PHI_D" value="{150, 150}"/>
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<define name="PHI_I" value="{30, 30}"/>
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<define name="PHI_DD" value="{0, 0}"/>
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<define name="THETA_P" value="{100, 80}"/>
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<define name="THETA_D" value="{100, 110}"/>
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<define name="THETA_I" value="{40, 40}"/>
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<define name="THETA_DD" value="{0, 0}"/>
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<define name="PSI_P" value="{300, 300}"/>
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<define name="PSI_D" value="{150, 150}"/>
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<define name="PSI_I" value="{0, 0}"/>
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<define name="PSI_DD" value="{0, 0}"/>
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</section>
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<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
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<!-- setpoints -->
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<define name="SP_MAX_PHI" value="60." unit="deg"/>
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<define name="SP_MAX_THETA" value="60." unit="deg"/>
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<define name="SP_MAX_R" value="100." unit="deg/s"/>
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<define name="DEADBAND_R" value="250"/>
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<define name="DEADBAND_A" value="250"/>
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<define name="SP_PSI_DELTA_LIMIT" value="90" unit="deg"/>
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<!-- reference -->
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<define name="REF_OMEGA_P" value="1500" unit="deg/s"/>
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<define name="REF_ZETA_P" value="0.85"/>
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<define name="REF_MAX_P" value="300." unit="deg/s"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
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<define name="REF_OMEGA_Q" value="1500" unit="deg/s"/>
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<define name="REF_ZETA_Q" value="0.85"/>
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<define name="REF_MAX_Q" value="300." unit="deg/s"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
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<define name="REF_OMEGA_R" value="1500" unit="deg/s"/>
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<define name="REF_ZETA_R" value="0.85"/>
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<define name="REF_MAX_R" value="300." unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(7000.)"/>
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<!-- feedback -->
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<define name="PHI_PGAIN" value="150"/>
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<define name="PHI_DGAIN" value="150"/>
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<define name="PHI_IGAIN" value="30"/>
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<define name="THETA_PGAIN" value="100"/>
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<define name="THETA_DGAIN" value="100"/>
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<define name="THETA_IGAIN" value="40"/>
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<define name="PSI_PGAIN" value="300"/>
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<define name="PSI_DGAIN" value="150"/>
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<define name="PSI_IGAIN" value="0"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value=" 0"/>
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<define name="THETA_DDGAIN" value=" 0"/>
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<define name="PSI_DDGAIN" value=" 0"/>
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</section>
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<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
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<!-- setpoints -->
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<define name="SP_MAX_PHI" value="60." unit="deg"/>
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<define name="SP_MAX_THETA" value="60." unit="deg"/>
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<define name="SP_MAX_R" value="180." unit="deg/s"/>
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<define name="DEADBAND_R" value="250"/>
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<define name="DEADBAND_A" value="250"/>
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<define name="SP_PSI_DELTA_LIMIT" value="90" unit="deg"/>
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<!-- control effectiveness -->
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<define name="G1_P" value="0.0179"/>
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<define name="G1_Q" value="0.0708"/>
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<define name="G1_R" value="0.0095"/>
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<define name="G2_R" value="0.0"/>
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<!-- reference acceleration for attitude control -->
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<define name="REF_ERR_P" value="70.0"/>
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<define name="REF_ERR_Q" value="45.0"/>
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<define name="REF_ERR_R" value="70.0"/>
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<define name="REF_RATE_P" value="9.0"/>
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<define name="REF_RATE_Q" value="16.0"/>
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<define name="REF_RATE_R" value="12.0"/>
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<!-- second order filter parameters -->
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<define name="FILT_CUTOFF" value="8.0"/>
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<define name="FILT_CUTOFF_RDOT" value="3.2"/>
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<!-- first order actuator dynamics -->
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<define name="ACT_DYN_P" value="0.03"/>
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<define name="ACT_DYN_Q" value="0.03"/>
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<define name="ACT_DYN_R" value="0.03"/>
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<!-- Adaptive Learning Rate -->
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<define name="USE_ADAPTIVE" value="TRUE"/>
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<define name="ADAPTIVE_MU" value="0.0001"/>
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</section>
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<!-- Gains for vertical navigation -->
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
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<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
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<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
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<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
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<define name="MAX_SUM_ERR" value="2000000"/>
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<define name="HOVER_KP" value="200"/>
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<define name="HOVER_KD" value="175"/>
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<define name="HOVER_KI" value="100"/>
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<define name="NOMINAL_HOVER_THROTTLE" value ="0.2"/>
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<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
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</section>
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<section name="AHRS" prefix="AHRS_">
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<!-- Delft magnetic field -->
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<define name="H_X" value="0.39049610"/>
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<define name="H_Y" value="0.00278894"/>
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<define name="H_Z" value="0.92060036"/>
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<!-- For vibrating airfames -->
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<define name="GRAVITY_HEURISTIC_FACTOR" value="0"/>
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</section>
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<!-- Gains for horizontal navigation-->
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<define name="PGAIN" value="50"/>
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<define name="DGAIN" value="50"/>
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<define name="IGAIN" value="65"/>
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<define name="MAX_BANK" value="RadOfDeg(55)"/>
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<define name="FORWARD_MAX_BANK" value="RadOfDeg(35)"/>
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<define name="USE_REF" value="FALSE"/>
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</section>
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<section name="NAV">
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<define name="ARRIVED_AT_WAYPOINT" value="5" unit="m"/>
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</section>
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<section name="MISC">
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<define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="{1,1,1,1,1,1,1,1,1,1,1,1}"/>
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<!--The Quadshot uses a slightly different axis system for the setpoint, to make both hovering and flying forward intuitive-->
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<define name="USE_EARTH_BOUND_RC_SETPOINT" value="TRUE"/>
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<!-- This is the pitch angle that the Quadshot will have in forward flight, where 0 degrees is hover-->
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<define name="TRANSITION_MAX_OFFSET" value="-75.0" unit="deg"/>
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<define name="RC_LOST_MODE" value="MODE_AUTO2"/>
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<define name="SWITCH_STICKS_FOR_RATE_CONTROL" value="TRUE"/>
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<define name="AIRSPEED_ETS_I2C_DEV" value="i2c2"/>
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<define name="AHRS_MAG_UPDATE_ALL_AXES" value="FALSE"/>
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<define name="THRESHOLD_GROUND_DETECT" value="25.0"/>
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<define name="KILL_ON_GROUND_DETECT" value="TRUE"/>
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<define name="FAILSAFE_GROUND_DETECT" value="TRUE"/>
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<define name="HYBRID_NAVIGATION" value="TRUE"/>
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<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
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<define name="ADAPTIVE_INDI" value="FALSE"/>
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</section>
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<firmware name="rotorcraft">
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<target name="ap" board="lisa_m_2.0">
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<module name="radio_control" type="ppm">
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<configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/>
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<!-- <define name="RADIO_KILL_SWITCH" value="5"/>-->
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<!-- Put the mode on channel AUX1-->
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<define name="RADIO_MODE" value="5"/>
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<define name="RADIO_CAMERA" value="RADIO_EXTRA1"/>
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<!-- <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/> -->
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</module>
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<!-- ONLY if flashing via JTAG cable -->
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<configure name="FLASH_MODE" value="SWD"/>
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<configure name="BMP_PORT" value="/dev/ttyACM0" />
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<!-- To use an airspeed sensor on I2C, enable I2C2-->
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<!-- <define name="USE_I2C2"/> -->
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<!-- If using aspirin 2.2, make sure to uncomment the following barometer configuration: -->
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<!-- <configure name="LISA_M_BARO" value="BARO_MS5611_SPI"/> -->
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<configure name="LISA_M_BARO" value="BARO_BOARD_BMP085"/>
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</target>
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<module name="motor_mixing"/>
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<module name="actuators" type="pwm">
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<define name="SERVO_HZ" value="400"/>
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<define name="USE_SERVOS_7AND8"/>
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</module>
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<module name="telemetry" type="xbee_api"/>
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<!-- <module name="telemetry" type="transparent"/> -->
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<module name="imu" type="aspirin_v2.1"/>
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<module name="gps" type="ublox"/>
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<!-- <module name="stabilization" type="int_quat"/> -->
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<module name="stabilization" type="indi_simple"/>
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<module name="guidance" type="hybrid"/>
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<module name="ahrs" type="int_cmpl_quat">
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<configure name="USE_MAGNETOMETER" value="1"/>
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<define name="AHRS_USE_GPS_HEADING" value="0"/>
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</module>
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<module name="ins"/>
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<load name="gps_ubx_ucenter.xml"/>
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<!-- The the led_safety_status module will make the Quadshot LEDs blink in certain patterns when there are safety violations-->
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<load name="led_safety_status.xml">
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<define name="USE_LED_BODY" value="1"/>
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<define name="SAFETY_WARNING_LED" value="BODY"/>
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</load>
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<load name="sonar_adc.xml">
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<configure name="ADC_SONAR" value="ADC_2"/>
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<!-- <define name="USE_SONAR"/> -->
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<define name="SENSOR_SYNC_SEND_SONAR"/>
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<define name="SONAR_SCALE" value="0.0032"/>
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</load>
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<!--Use an airspeed sensor and get the measured airspeed in the messages-->
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<!-- <load name="airspeed_ets.xml">
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</load>-->
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<module name="logger_spi_link"/>
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<!-- <load name="AOA_adc.xml">
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<configure name="ADC_AOA" value="ADC_2"/>
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<define name="AOA_OFFSET" value="0"/>
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|
<define name="AOA_FILTER" value="0"/>
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|
<define name="USE_AOA"/>
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<define name="AOA_SENS" value="2.0*M_PI/1024/4"/>
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</load>-->
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<!-- Load this module to use multiple gain sets, which have to be specified in the gain sets section. Does not work with INDI -->
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<!-- <module name="gain_scheduling"/> -->
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</firmware>
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</airframe>
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