mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 23:49:00 +08:00
Gautier Hattenberger
4b41dcd513
It is way too dangerous and not needed anymore with the latest imu sensor. Keeping it for arduimu just in case
231 lines
8.5 KiB
XML
231 lines
8.5 KiB
XML
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
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<!-- Fire Storm
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Umarim
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Radiotronix modem
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-->
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<airframe name="FireStorm">
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<modules>
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<load name="poles.xml"/>
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</modules>
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<firmware name="fixedwing">
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<define name="AGR_CLIMB"/>
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<define name="LOITER_TRIM"/>
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<!--define name="PITCH_TRIM"/-->
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<target name="sim" board="pc"/>
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<target name="ap" board="umarim_1.0">
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<configure name="FLASH_MODE" value="IAP"/>
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<define name="USE_I2C0"/>
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<define name="USE_I2C1"/>
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</target>
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<subsystem name="radio_control" type="ppm"/>
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<!-- Communication -->
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<subsystem name="telemetry" type="transparent">
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<configure name="MODEM_BAUD" value="B57600"/>
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</subsystem>
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<!-- Actuators are automatically chosen according to board-->
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<subsystem name="imu" type="umarim"/>
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<subsystem name="ahrs" type="float_dcm"/>
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<subsystem name="ins" type="alt_float">
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<!--define name="USE_BAROMETER"/-->
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</subsystem>
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<subsystem name="control" type="adaptive"/>
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<subsystem name="navigation"/>
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<!-- Sensors -->
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<subsystem name="gps" type="ublox"/>
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<subsystem name="current_sensor">
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<configure name="ADC_CURRENT_SENSOR" value="ADC_0"/>
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</subsystem>
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</firmware>
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<!-- commands section -->
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<servos>
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<servo name="MOTOR" no="2" min="1250" neutral="1250" max="1800"/>
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<servo name="AILEVON_LEFT" no="0" min="1850" neutral="1370" max="1000"/>
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<servo name="AILEVON_RIGHT" no="1" min="1000" neutral="1515" max="1870"/>
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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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<define name="AILERON_DIFF" value="0.5"/>
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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 > 0 ? 1 : AILERON_DIFF) * $aileron"/>
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<set servo="AILEVON_RIGHT" value="$elevator - ($aileron > 0 ? AILERON_DIFF : 1) * $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="GYRO_P_SIGN" value="1"/>
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<define name="GYRO_Q_SIGN" value="-1"/>
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<define name="GYRO_R_SIGN" value="-1"/>
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<!-- Calibration Neutral -->
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<define name="GYRO_P_NEUTRAL" value="-53"/>
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<define name="GYRO_Q_NEUTRAL" value="33"/>
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<define name="GYRO_R_NEUTRAL" value="-16"/>
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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_SIGN" value="1"/>
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<define name="ACCEL_Y_SIGN" value="-1"/>
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<define name="ACCEL_Z_SIGN" value="-1"/>
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<define name="ACCEL_X_NEUTRAL" value="-2"/>
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<define name="ACCEL_Y_NEUTRAL" value="1"/>
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<define name="ACCEL_Z_NEUTRAL" value="-43"/>
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<define name="ACCEL_X_SENS" value="38.9923420841" integer="16"/>
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<define name="ACCEL_Y_SENS" value="39.2011913001" integer="16"/>
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<define name="ACCEL_Z_SENS" value="39.4148057033" integer="16"/>
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<!-- Just to compile -->
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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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<define name="MAG_Z_NEUTRAL" value="0"/>
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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="INS" prefix="INS_">
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<define name="ROLL_NEUTRAL_DEFAULT" value="-0.0640000030398" unit="rad"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="0.0670000016689" unit="rad"/>
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<define name="BARO_SENS" value="1.0"/> <!-- TODO calibration -->
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="2000"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<define name="MilliAmpereOfAdc(_adc)" value="(_adc-162)*17.4"/>
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</section>
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<section name="MISC">
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<define name="MINIMUM_AIRSPEED" value="13." unit="m/s"/>
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<define name="NOMINAL_AIRSPEED" value="16." unit="m/s"/>
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<define name="MAXIMUM_AIRSPEED" value="24." 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="ALT_KALMAN_ENABLED" value="TRUE"/>
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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="TELEMETRY_MODE_AP" value="1"/>
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ -->
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<!-- outer loop proportional gain -->
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<define name="ALTITUDE_PGAIN" value="0.04"/>
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="2."/>
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
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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="0.80"/>
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<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
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<define name="AUTO_THROTTLE_DASH_TRIM" value="-2500"/>
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.05" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="0.007"/>
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<define name="AUTO_THROTTLE_IGAIN" value="0.067"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.11"/>
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<!-- auto pitch inner loop -->
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<define name="AUTO_PITCH_PGAIN" value="0.05"/>
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<define name="AUTO_PITCH_IGAIN" value="0.075"/>
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<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
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<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
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<define name="THROTTLE_SLEW" value="0.5"/>
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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="0.9"/>
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<define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="rad"/>
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<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
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<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
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<define name="PITCH_PGAIN" value="14255.3193359"/>
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<define name="PITCH_DGAIN" value="1.5"/>
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<define name="ELEVATOR_OF_ROLL" value="2000."/>
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<define name="ROLL_ATTITUDE_GAIN" value="2600"/>
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<define name="ROLL_RATE_GAIN" value="850"/>
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<define name="ROLL_KFF" value="-500"/>
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<define name="ROLL_IGAIN" value="00"/>
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<define name="PITCH_IGAIN" value="500"/>
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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="AGGRESSIVE" prefix="AGR_">
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<define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
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<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
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<define name="CLIMB_THROTTLE" value="0.75"/><!-- Gaz for Aggressive Climb -->
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<define name="CLIMB_PITCH" value="0.20"/><!-- Pitch for Aggressive Climb -->
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<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
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<define name="DESCENT_PITCH" value="-0.15"/><!-- 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="GYRO_GAINS">
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<define name="GYRO_MAX_RATE" value="200."/>
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<define name="ROLLRATESUM_NB_SAMPLES" value="64"/>
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<define name="ALT_ROLL__PGAIN" value="1.0"/>
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<define name="ROLL_RATE_PGAIN" value="1000.0"/>
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<define name="ROLL_RATE_IGAIN" value="0.0"/>
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<define name="ROLL_RATE_DGAIN" value="0.0"/>
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</section-->
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DELAY_WITHOUT_GPS" value="1" 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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</airframe>
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