mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Christophe De Wagter
289 lines
11 KiB
XML
289 lines
11 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!--
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Parrot Disco
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-->
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<airframe name="Disco">
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<description>
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Parrot Disco Photogrammeyty (with bottom camera recoring)
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Checklist:
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- tune your servo deflections per airframe (symmetric)
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- calibrate your magnetometer for the given battery
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- remove previous images before flight
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- trigger snapping images manually or in the flightplan
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- use Open Drone Map / ODMWeb (or similar)
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- make a movie with
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<!--
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ls *.jpg | xargs -I {} echo "file '{}'" > images.txt
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ffmpeg -f concat -safe 0 -i images.txt -c:v libx264 -crf 18 -profile:v baseline -level 3.0 -pix_fmt yuv420p -movflags faststart ./flight.mp4
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-->
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</description>
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<firmware name="fixedwing">
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<configure name="USE_MAGNETOMETER" value="TRUE"/>
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<define name="USE_BAROMETER" value="TRUE"/>
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<target name="ap" board="disco">
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<configure name="PERIODIC_FREQUENCY" value="120"/>
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<module name="radio_control" type="sbus"/>
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<configure name="MS5611_I2C_DEV" value="i2c1" />
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</target>
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<target name="sim" board="pc">
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<configure name="SYS_TIME_FREQUENCY" value="120"/>
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<configure name="PERIODIC_FREQUENCY" value="60"/>
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<module name="radio_control" type="ppm"/>
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</target>
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<target name="nps" board="pc">
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<!-- <configure name="SYS_TIME_FREQUENCY" value="120"/> -->
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<configure name="PERIODIC_FREQUENCY" value="60"/>
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<module name="radio_control" type="ppm"/>
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<module name="fdm" type="jsbsim"/>
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</target>
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<module name="telemetry" type="transparent_udp"/>
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<module name="imu" type="disco"/>
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<module name="ahrs" type="float_dcm"/>
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<module name="gps" type="ublox"/>
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<module name="gps" type="ubx_ucenter"/>
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<module name="ins" type="alt_float"/>
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<module name="baro" type="ms5611_i2c">
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<define name="BB_MS5611_TYPE_MS5607" value="TRUE" />
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</module>
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<module name="airspeed" type="ms45xx_i2c">
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<configure name="MS45XX_I2C_DEV" value="i2c1"/>
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<define name="MS45XX_PRESSURE_RANVE" value="0.05"/>
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</module>
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<module name="air_data"/>
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<module name="actuators" type="disco"/>
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<module name="control" type="new"/>
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<module name="navigation"/>
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<module name="geo_mag"/>
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<module name="sonar_bebop">
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<define name="USE_SONAR"/>
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<define name="SENSOR_SYNC_SEND_SONAR"/>
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</module>
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<module name="bebop_cam">
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<define name="MT9V117_TARGET_FPS" value="4" />
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<define name="MT9V117_CROP_WIDTH" value="320" />
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<define name="MT9V117_CROP_HEIGHT" value="240" />
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</module>
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<module name="video_exif"/>
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<module name="video_capture">
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<define name="VIDEO_CAPTURE_CAMERA" value="bottom_camera"/>
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<define name="VIDEO_CAPTURE_PATH" value="/data/ftp/internal_000/images/"/>
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<define name="VIDEO_CAPTURE_FPS" value="4" />
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</module>
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</firmware>
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<servos>
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<servo name="MOTOR" no="0" min="1000" neutral="1000" max="12500"/>
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<servo name="AILEVON_RIGHT" no="6" min="1900" neutral="1500" max="1100"/>
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<servo name="AILEVON_LEFT" no="1" min="1100" neutral="1500" max="1900"/>
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</servos>
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<commands>
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<axis name="THROTTLE" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="PITCH" failsafe_value="0"/>
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</commands>
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<rc_commands>
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<set command="THROTTLE" value="@THROTTLE"/>
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<set command="ROLL" value="@ROLL"/>
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<set command="PITCH" value="@PITCH"/>
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</rc_commands>
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<section name="MIXER">
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<define name="AILEVON_AILERON_RATE" value="0.75"/>
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<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
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</section>
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<command_laws>
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<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
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<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
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<set servo="MOTOR" value="@THROTTLE"/>
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<set servo="AILEVON_LEFT" value="$elevator - $aileron"/>
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<set servo="AILEVON_RIGHT" value="$elevator + $aileron"/>
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</command_laws>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="0.85"/>
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<define name="MAX_PITCH" value="0.6"/>
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</section>
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<section name="IMU" prefix="IMU_">
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<define name="ACCEL_X_NEUTRAL" value="-141"/>
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<define name="ACCEL_Y_NEUTRAL" value="13"/>
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<define name="ACCEL_Z_NEUTRAL" value="-12"/>
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<define name="ACCEL_X_SENS" value="2.43116617606" integer="16"/>
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<define name="ACCEL_Y_SENS" value="2.46264528353" integer="16"/>
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<define name="ACCEL_Z_SENS" value="2.41899590699" integer="16"/>
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<define name="MAG_X_NEUTRAL" value="-164"/>
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<define name="MAG_Y_NEUTRAL" value="-244"/>
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<define name="MAG_Z_NEUTRAL" value="-590"/>
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<define name="MAG_X_SENS" value="7.76268606256" integer="16"/>
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<define name="MAG_Y_SENS" value="7.53777959342" integer="16"/>
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<define name="MAG_Z_SENS" value="8.13033580043" integer="16"/>
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<define name="BODY_TO_IMU_PHI" value="0"/>
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<define name="BODY_TO_IMU_THETA" value="0"/>
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<define name="BODY_TO_IMU_PSI" value="0"/>
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</section>
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<!--section name="AHRS" prefix="AHRS_">
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<define name="H_X" value="0.5141"/>
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<define name="H_Y" value="0.0002"/>
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<define name="H_Z" value="0.8576"/>
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</section-->
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<section name="INS" prefix="INS_">
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<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
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<define name="H_X" value="0.5141"/>
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<define name="H_Y" value="0.0002"/>
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<define name="H_Z" value="0.8576"/>
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</section>
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<section name="BAT">
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<define name="MilliAmpereOfAdc(_adc)" value="(_adc-632)*4.14"/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
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<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
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<define name="APP_ANGLE" value="8" unit="deg"/>
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</section>
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<section name="AIR_DATA" prefix="AIR_DATA_">
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<define name="CALC_AMSL_BARO" value="TRUE"/>
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<!-- outer loop proportional gain -->
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<define name="ALTITUDE_PGAIN" value="0.12"/>
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="4."/>
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<!-- disable climb rate limiter -->
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<define name="AUTO_CLIMB_LIMIT" value="2*V_CTL_ALTITUDE_MAX_CLIMB"/>
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<!-- Cruise throttle + limits -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.4"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
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<!-- Climb loop (throttle) -->
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.088" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="0.004"/>
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<define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
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<define name="AUTO_THROTTLE_IGAIN" value="0."/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.077"/>
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<!-- Climb loop (pitch) -->
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<define name="AUTO_PITCH_PGAIN" value="0.027"/>
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<define name="AUTO_PITCH_DGAIN" value="0.01"/>
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<define name="AUTO_PITCH_IGAIN" value="0.0"/>
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<!--define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/-->
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<define name="AUTO_PITCH_MAX_PITCH" value="20" unit="deg"/>
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<define name="AUTO_PITCH_MIN_PITCH" value="-20" unit="deg"/>
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<!-- airspeed control -->
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<define name="AUTO_AIRSPEED_SETPOINT" value="16."/>
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<define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0.1"/>
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<define name="AUTO_AIRSPEED_THROTTLE_DGAIN" value="0.12"/>
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<define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0.0"/>
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<define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0.06"/>
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<define name="AUTO_AIRSPEED_PITCH_DGAIN" value="0.0"/>
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<define name="AUTO_AIRSPEED_PITCH_IGAIN" value="0.042"/>
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<define name="AIRSPEED_MAX" value="30"/>
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<define name="AIRSPEED_MIN" value="10"/>
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<!-- groundspeed control -->
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<define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
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<define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
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<define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>
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<!-- pitch trim -->
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<define name="PITCH_LOITER_TRIM" value="0." unit="deg"/>
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<define name="PITCH_DASH_TRIM" value="0." unit="deg"/>
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<define name="THROTTLE_SLEW" value="0.1"/>
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</section>
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<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
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<define name="COURSE_PGAIN" value="0.743"/>
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<define name="COURSE_TAU" value="0.5"/>
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<define name="ROLL_MAX_SETPOINT" value="30." unit="deg"/>
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<define name="PITCH_MAX_SETPOINT" value="30." unit="deg"/>
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<define name="PITCH_MIN_SETPOINT" value="-30." unit="deg"/>
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<define name="ROLL_ATTITUDE_GAIN" value="6000."/>
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<define name="ROLL_RATE_GAIN" value="500."/>
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<define name="ROLL_IGAIN" value="100."/>
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<define name="ROLL_KFFA" value="0"/>
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<define name="ROLL_KFFD" value="0"/>
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<define name="PITCH_PGAIN" value="14250"/>
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<define name="PITCH_DGAIN" value="500."/>
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<define name="PITCH_IGAIN" value="300"/>
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<define name="PITCH_KFFA" value="0."/>
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<define name="PITCH_KFFD" value="0."/>
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<define name="PITCH_OF_ROLL" value="1." unit="deg"/>
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<define name="AILERON_OF_THROTTLE" value="0.0"/>
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<define name="ELEVATOR_OF_ROLL" value="1400"/>
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</section>
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<section name="NAV">
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<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
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</section>
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
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<define name="HOME_RADIUS" value="100" unit="m"/>
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</section>
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<section name="AGGRESSIVE" prefix="AGR_">
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<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
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<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
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<define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
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<define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
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<define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
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<define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive Decent -->
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<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
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<define name="DESCENT_NAV_RATIO" value="1.0"/>
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</section>
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<section name="SIMU">
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<define name="ROLL_RESPONSE_FACTOR" value="20"/>
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<define name="JSBSIM_MODEL" value=""Malolo1""/>
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<!--define name="JSBSIM_INIT" value=""Malolo1-IC""/-->
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<define name="JSBSIM_LAUNCHSPEED" value="15.0"/>
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<define name="JSBSIM_IR_ROLL_NEUTRAL" value="RadOfDeg(0.)"/>
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<define name="JSBSIM_IR_PITCH_NEUTRAL" value="RadOfDeg(0.)"/>
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</section>
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</airframe>
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