mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 15:30:08 +08:00
Allen Ibara
87 lines
3.1 KiB
XML
87 lines
3.1 KiB
XML
<airframe name="wirly_ng">
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<!-- commands section -->
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<servos>
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<servo name="ELEVATOR1" no="0" min="1129" neutral="1277" max="1466"/>
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<servo name="ELEVATOR2" no="1" min="1251" neutral="1486" max="1638"/>
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<servo name="FLAP1" no="2" min="1700" neutral="1450" max="1200"/>
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<servo name="FLAP2" no="3" min="1700" neutral="1450" max="1200"/>
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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="ELEVATOR1" failsafe_value="0"/>
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<axis name="ELEVATOR2" failsafe_value="0"/>
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<axis name="FLAP1" failsafe_value="0"/>
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<axis name="FLAP2" failsafe_value="0"/>
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</commands>
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<command_laws>
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<set servo="ELEVATOR1" value="@ELEVATOR1"/>
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<set servo="ELEVATOR2" value="@ELEVATOR2"/>
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<set servo="FLAP1" value="@FLAP1"/>
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<set servo="FLAP2" value="@FLAP2"/>
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</command_laws>
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<section name="CONTROL">
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<define name="CTL_ELEVATOR_PITCH_KP" value="10000."/>
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<define name="CTL_ELEVATOR_PITCH_KI" value=" 100."/>
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<define name="CTL_ELEVATOR_PITCH_KD" value=" 0."/>
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<define name="CTL_FLAP_PITCH_KP" value="30000."/>
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<define name="CTL_FLAP_PITCH_KI" value=" 0."/>
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<define name="CTL_FLAP_PITCH_KD" value=" 0."/>
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<define name="CTL_ELEVATOR_1_TRIM" value=" 0."/>
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<define name="CTL_ELEVATOR_2_TRIM" value=" 0."/>
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<define name="CTL_FLAP_1_TRIM" value=" 0."/>
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<define name="CTL_FLAP_2_TRIM" value=" 0."/>
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</section>
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<section name="ELEVATOR_CONTROL">
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<define name="DEFAULT_ELEVATOR1_TRIM" value="0"/>
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<define name="DEFAULT_ELEVATOR2_TRIM" value="0."/>
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<define name="DEFAULT_FLAP1_TRIM" value="0"/>
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<define name="DEFAULT_FLAP2_TRIM" value="0."/>
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<define name="DEFAULT_PLANE1_PITCH_OFFSET" value="0."/>
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<define name="DEFAULT_PLANE2_PITCH_OFFSET" value="0."/>
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<define name="DEFAULT_PLANE1_PHASE_OFFSET" value="225."/>
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<define name="DEFAULT_CYCLIC_SETPOINT" value="0."/>
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<define name="DEFAULT_COLLECTIVE_SETPOINT" value="0."/>
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<define name="DEFAULT_WHIRLY_ELEVATOR_PITCH_KP" value="10000."/>
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<define name="DEFAULT_WHIRLY_ELEVATOR_PITCH_KD" value="0."/>
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<define name="DEFAULT_WHIRLY_ELEVATOR_PITCH_KI" value="100"/>
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<define name="DEFAULT_WHIRLY_ELEVATOR_ROLL_KP" value="0."/>
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<define name="DEFAULT_WHIRLY_ELEVATOR_ROLL_KD" value="0."/>
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<define name="DEFAULT_WHIRLY_ELEVATOR_FLAP_MIX" value="0."/>
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<define name="DEFAULT_WHIRLY_FLAP_PITCH_KP" value="30000."/>
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<define name="DEFAULT_WHIRLY_FLAP_PITCH_KD" value="0."/>
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<define name="DEFAULT_WHIRLY_FLAP_PITCH_KI" value="0"/>
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<define name="DEFAULT_WHIRLY_FLAP_ROLL_KP" value="0."/>
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<define name="DEFAULT_WHIRLY_FLAP_ROLL_KD" value="0."/>
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<define name="DEFAULT_WHIRLY_ROLL_PHASE" value="90."/>
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<define name="DEFAULT_ITERM_WINDOW" value="360."/>
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<define name="DEFAULT_PITCH_DT" value="1."/>
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<define name="DEFAULT_ROLL_DT" value="1."/>
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</section>
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<makefile>
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USER =
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HOST = whirly-dev
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TARGET_DIR = ~
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<!--ap.CFLAGS += -DDISABLE_CAN=1-->
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ap.CFLAGS += -DTELEMETRY_MODE_DEFAULT=TELEMETRY_MODE_Main_default
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include $(PAPARAZZI_SRC)/conf/autopilot/whirly_ap.makefile
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</makefile>
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</airframe>
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