mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-22 20:36:06 +08:00
Antoine Drouin
144 lines
4.3 KiB
XML
144 lines
4.3 KiB
XML
<airframe name="BOOZ">
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<servos min="0" neutral="0" max="0xff">
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<servo name="MOTOR_FRONT" no="0" min="0" neutral="0" max="255"/>
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<servo name="MOTOR_BACK" no="1" min="0" neutral="0" max="255"/>
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<servo name="MOTOR_RIGHT" no="3" min="0" neutral="0" max="255"/>
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<servo name="MOTOR_LEFT" no="2" min="0" neutral="0" max="255"/>
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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="P" failsafe_value="0"/>
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<axis name="Q" failsafe_value="0"/>
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<axis name="R" failsafe_value="0"/>
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</commands>
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<command_laws>
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<let var="throttle" value="@THROTTLE"/>
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<let var="p" value="trim_p + @P"/>
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<let var="q" value="trim_q + @Q"/>
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<let var="r" value="trim_r + @R"/>
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<set servo="MOTOR_FRONT" value="$throttle + $q + $r"/>
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<set servo="MOTOR_BACK" value="$throttle - $q + $r"/>
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<set servo="MOTOR_RIGHT" value="$throttle - $p - $r"/>
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<set servo="MOTOR_LEFT" value="$throttle + $p - $r"/>
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</command_laws>
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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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<set command="YAW" value="@YAW"/>
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</rc_commands>
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<section name="MICROMAG">
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<define name="MM_SS_PIN" value="20"/>
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<define name="MM_SS_IODIR" value="IO0DIR"/>
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<define name="MM_SS_IOSET" value="IO0SET"/>
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<define name="MM_SS_IOCLR" value="IO0CLR"/>
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<define name="MM_RESET_PIN" value="21"/>
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<define name="MM_RESET_IODIR" value="IO1DIR"/>
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<define name="MM_RESET_IOSET" value="IO1SET"/>
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<define name="MM_RESET_IOCLR" value="IO1CLR"/>
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<define name="MM_DRDY_PIN" value="15"/>
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<define name="MM_DRDY_PINSEL" value="PINSEL0"/>
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<define name="MM_DRDY_PINSEL_BIT" value="30"/>
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<define name="MM_DRDY_PINSEL_VAL" value="2"/>
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<define name="MM_DRDY_EINT" value="2"/>
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<define name="MM_DRDY_VIC_IT" value="VIC_EINT2"/>
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</section>
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<section name="IMU" prefix="IMU_">
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<define name="GYRO_X_CHAN" value="0"/>
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<define name="GYRO_Y_CHAN" value="1"/>
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<define name="GYRO_Z_CHAN" value="2"/>
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<define name="GYRO_X_NEUTRAL" value="40852"/>
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<define name="GYRO_Y_NEUTRAL" value="40916"/>
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<define name="GYRO_Z_NEUTRAL" value="39619"/>
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<define name="GYRO_X_GAIN" value="(-1/4541.3261)"/>
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<define name="GYRO_Y_GAIN" value="(-1/4651.1628)"/>
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<define name="GYRO_Z_GAIN" value="( 1/4752.8517)"/>
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<define name="ACCEL_X_CHAN" value="2"/>
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<define name="ACCEL_Y_CHAN" value="1"/>
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<define name="ACCEL_Z_CHAN" value="3"/>
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<define name="ACCEL_X_NEUTRAL" value="17732.494"/>
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<define name="ACCEL_Y_NEUTRAL" value="16555.486"/>
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<define name="ACCEL_Z_NEUTRAL" value="16645.17"/>
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<define name="ACCEL_X_GAIN" value=" (1./829.62787)"/>
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<define name="ACCEL_Y_GAIN" value="(-1./829.60535)"/>
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<define name="ACCEL_Z_GAIN" value="(-1./826.85295)"/>
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<define name="MAG_X_CHAN" value="0"/>
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<define name="MAG_Y_CHAN" value="1"/>
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<define name="MAG_Z_CHAN" value="2"/>
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<!--
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<define name="MAG_X_NEUTRAL" value="0"/>
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<define name="MAG_Y_NEUTRAL" value="0"/>
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-->
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<define name="MAG_X_NEUTRAL" value="60"/>
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<define name="MAG_Y_NEUTRAL" value="60"/>
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<define name="MAG_Z_NEUTRAL" value="0"/>
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<define name="MAG_X_GAIN" value="-1."/>
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<define name="MAG_Y_GAIN" value="-1."/>
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<define name="MAG_Z_GAIN" value=" 1."/>
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<define name="PRESSURE_NEUTRAL" value="0"/>
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<define name="PRESSURE_GAIN" value="0.25"/>
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</section>
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<section name="BOOZ_CONTROL" prefix="BOOZ_CONTROL_">
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<define name="RATE_PQ_PGAIN" value="-700."/>
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<define name="RATE_PQ_DGAIN" value="15."/>
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<define name="RATE_R_PGAIN" value="-600."/>
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<define name="RATE_R_DGAIN" value="0."/>
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<!-- setpoints for max stick throw in degres per second -->
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<define name="RATE_PQ_MAX_SP" value="120."/>
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<define name="RATE_R_MAX_SP" value="100."/>
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<define name="ATTITUDE_PHI_THETA_PGAIN" value="-1250."/>
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<define name="ATTITUDE_PHI_THETA_DGAIN" value="-700."/>
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<define name="ATTITUDE_PSI_PGAIN" value="-1050."/>
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<define name="ATTITUDE_PSI_DGAIN" value="-850."/>
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<!-- setpoints for max stick throw in degres -->
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<define name="ATTITUDE_PHI_THETA_MAX_SP" value="30."/>
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<define name="ATTITUDE_PSI_MAX_SP" value="45."/>
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</section>
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<makefile>
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include $(PAPARAZZI_SRC)/conf/autopilot/conf_booz.makefile
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</makefile>
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</airframe>
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