mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Felix Ruess
f415f44be9
* nav_catapult * more fixedwing tuning params * helicopter safety pilot stuff, stabilization_none
249 lines
8.9 KiB
XML
249 lines
8.9 KiB
XML
<airframe name="NavGo">
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<modules main_freq="512">
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<!--load name="booz_pwm.xml">
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<define name="USE_PWM1"/>
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</load-->
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<!--load name="booz_drop.xml"/>
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<load name="booz_cam.xml"/-->
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</modules>
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<firmware name="rotorcraft">
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<define name="USE_INS_NAV_INIT"/>
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<define name="USE_ADAPT_HOVER"/>
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<define name="USE_ATTITUDE_REF" value="0"/>
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<!--define name="GUIDANCE_H_USE_REF"/-->
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<target name="ap" board="navgo_1.0">
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<define name="FAILSAFE_GROUND_DETECT"/>
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<define name="USE_GPS_ACC4R"/>
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</target>
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<target name="sim" board="pc">
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<subsystem name="fdm" type="nps"/>
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</target>
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<subsystem name="radio_control" type="ppm"/>
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<subsystem name="telemetry" type="transparent"/>
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<subsystem name="actuators" type="skiron">
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<define name="SKIRON_I2C_SCL_TIME" value="25"/>
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</subsystem>
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<subsystem name="imu" type="navgo"/>
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<subsystem name="gps" type="ublox">
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<configure name="GPS_BAUD" value="B57600"/>
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</subsystem>
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<subsystem name="stabilization" type="euler"/>
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<subsystem name="ahrs" type="int_cmpl_euler"/>
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<subsystem name="ins" type="hff"/>
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</firmware>
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<servos min="0" neutral="0" max="0xff">
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<servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
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<servo name="BACK" no="2" min="0" neutral="0" max="255"/>
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<servo name="RIGHT" no="1" min="0" neutral="0" max="255"/>
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<servo name="LEFT" no="3" min="0" neutral="0" max="255"/>
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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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</commands>
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<section name="ACTUATORS_SKIRON" prefix="ACTUATORS_SKIRON_">
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<define name="NB" value="4"/>
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<define name="IDX" value="{ SERVO_FRONT, SERVO_BACK, SERVO_RIGHT, SERVO_LEFT }"/>
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</section>
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<section name="SUPERVISION" prefix="SUPERVISION_">
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<define name="MIN_MOTOR" value="20"/>
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<define name="MAX_MOTOR" value="255"/>
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<define name="TRIM_A" value="6"/>
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<define name="TRIM_E" value="0"/>
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<define name="TRIM_R" 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="ROLL_COEF" value="{ 0, 0, -256, 256}"/>
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<define name="PITCH_COEF" value="{ 256, -256, 0, 0}"/>
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<define name="YAW_COEF" value="{ -256, -256, 256, 256}"/>
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<define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/>
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</section>
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<section name="IMU" prefix="IMU_">
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<define name="GYRO_P_NEUTRAL" value="10"/>
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<define name="GYRO_Q_NEUTRAL" value="-32"/>
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<define name="GYRO_R_NEUTRAL" value="11"/>
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<!-- SENS ITG3200 1/14.375 (deg/s)/LSB, rate frac 12bit => 1/14.375 * pi / 180 * 2^12 -->
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<define name="GYRO_P_SENS" value="4.97312" integer="16"/>
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<define name="GYRO_Q_SENS" value="4.97312" integer="16"/>
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<define name="GYRO_R_SENS" value="4.97312" integer="16"/>
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<define name="ACCEL_X_NEUTRAL" value="9"/>
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<define name="ACCEL_Y_NEUTRAL" value="14"/>
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<define name="ACCEL_Z_NEUTRAL" value="-16"/>
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<!-- SENS ADXL345 16G 31.2 mg/LSB, accel frac 10bit => 31.2 * 2^10 / 1000 = 31.9488-->
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<define name="ACCEL_X_SENS" value="38.5866088465" integer="16"/>
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<define name="ACCEL_Y_SENS" value="38.7212932023" integer="16"/>
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<define name="ACCEL_Z_SENS" value="39.403098907" integer="16"/>
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<define name="MAG_X_NEUTRAL" value="80"/>
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<define name="MAG_Y_NEUTRAL" value="-271"/>
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<define name="MAG_Z_NEUTRAL" value="112"/>
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<define name="MAG_X_SENS" value="4.44131219218" integer="16"/>
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<define name="MAG_Y_SENS" value="4.56234629213" integer="16"/>
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<define name="MAG_Z_SENS" value="5.298653926" 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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<!-- Magnetic field for Toulouse (declination -16°) -->
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<section name="AHRS" prefix="AHRS_">
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<define name="MAG_UPDATE_YAW_ONLY" value="1"/>
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<define name="PROPAGATE_FREQUENCY" value="512"/>
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<define name="H_X" value=" 0.513081"/>
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<define name="H_Y" value="-0.00242783"/>
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<define name="H_Z" value=" 0.858336"/>
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</section>
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<section name="INS" prefix="INS_">
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<!-- datasheet 1.4 mm/LSB : 0.0014*2^8 = 0.3584 -->
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<!-- calibration SENS = 1.156 :( -->
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<define name="BARO_SENS" value="1.156" integer="16"/>
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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="-400"/>
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<define name="GAIN_Q" value="-400"/>
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<define name="GAIN_R" value="-350"/>
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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="45." unit="deg"/>
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<define name="SP_MAX_THETA" value="45." unit="deg"/>
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<define name="SP_MAX_R" value="90." unit="deg/s"/>
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<define name="DEADBAND_R" value="250"/>
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<!-- reference -->
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<define name="REF_OMEGA_P" value="800" 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="800" 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="500" 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="90." unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
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<!-- feedback -->
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<define name="PHI_PGAIN" value="-350"/>
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<define name="PHI_DGAIN" value="-190"/>
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<define name="PHI_IGAIN" value="-100"/>
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<define name="THETA_PGAIN" value="-350"/>
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<define name="THETA_DGAIN" value="-190"/>
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<define name="THETA_IGAIN" value="-100"/>
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<define name="PSI_PGAIN" value="-700"/>
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<define name="PSI_DGAIN" value="-250"/>
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<define name="PSI_IGAIN" value="-20"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value=" 70"/>
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<define name="THETA_DDGAIN" value=" 70"/>
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<define name="PSI_DDGAIN" value=" 70"/>
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</section>
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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="REF_MIN_ZDD" value="-1.2*9.81"/>
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<define name="REF_MAX_ZDD" value=" 0.8*9.81"/>
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<define name="REF_MIN_ZD" value="-1.5"/>
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<define name="REF_MAX_ZD" value=" 1.5"/>
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<define name="HOVER_KP" value="-350"/>
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<define name="HOVER_KD" value="-160"/>
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<define name="HOVER_KI" value="0"/>
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<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
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<define name="RC_CLIMB_COEF" value ="163"/>
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<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
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<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<define name="PGAIN" value="-140"/>
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<define name="DGAIN" value="-90"/>
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<define name="IGAIN" value="-30"/>
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<define name="NGAIN" value="-0"/>
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<!-- feedforward -->
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<define name="AGAIN" value="100"/>
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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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</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_ATTITUDE_Z_HOLD"/>
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<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/>
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<!--define name="MODE_AUTO2" value="AP_MODE_NAV"/-->
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</section>
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<section name="FMS">
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<define name="BOOZ_FMS_TIMEOUT" value="0"/>
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</section>
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<section name="CAM" prefix="BOOZ_CAM_">
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<define name="TILT_NEUTRAL" value="1500"/>
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<define name="TILT_MIN" value="1060"/>
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<define name="TILT_MAX" value="2250"/>
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<define name="TILT_ANGLE_MIN" value="-90." unit="deg"/>
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<define name="TILT_ANGLE_MAX" value=" 0." unit="deg"/>
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<define name="PAN_NEUTRAL" value="0"/>
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<define name="PAN_MIN" value="0"/>
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<define name="PAN_MAX" value="25736"/> <!-- 360 deg (2^12) -->
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<define name="DEFAULT_MODE" value="BOOZ_CAM_MODE_MANUAL"/>
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<!--define name="SetPwm(_v)" value="Booz2SetPwm1Value(_v)"/-->
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</section>
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<section name="MISC">
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<define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
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<define name="BoozDropPwm(_v)" value="BoozSetPwm1Value(_v)"/>
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<!--define name="IMU_MAG_OFFSET" value="-9."/-->
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</section>
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<section name="GCS">
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<define name="ALT_SHIFT_PLUS_PLUS" value="5"/>
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<define name="ALT_SHIFT_PLUS" value="1"/>
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<define name="ALT_SHIFT_MINUS" value="-1"/>
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</section>
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</airframe>
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