mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 14:18:00 +08:00
Felix Ruess
59 lines
2.0 KiB
XML
59 lines
2.0 KiB
XML
<!DOCTYPE airframe SYSTEM "airframe.dtd">
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<!-- this is a demo file for the OpenPilot CC3D board:
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* Autopilot: OpenPilot CC3D https://www.openpilot.org/product/coptercontrol/
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* Actuators: two standard servos http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM
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-->
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<airframe name="DemoCC3D">
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<firmware name="demo">
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<target name="demo_ahrs_actuators" board="cc3d">
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<subsystem name="telemetry" type="transparent"/>
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<subsystem name="actuators" type="pwm"/>
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<subsystem name="imu" type="mpu6000"/>
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<subsystem name="ahrs" type="int_cmpl_quat"/>
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<configure name="USE_MAGNETOMETER" value="FALSE"/>
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</target>
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<!--define name="USE_PERSISTENT_SETTINGS" value="TRUE"/-->
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<configure name="AHRS_ALIGNER_LED" value="1"/>
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</firmware>
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<firmware name="test_progs">
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<target name="test_sys_time_timer" board="cc3d"/>
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<target name="test_sys_time_usleep" board="cc3d"/>
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<target name="test_telemetry" board="cc3d"/>
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<target name="test_imu" board="cc3d">
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<subsystem name="imu" type="mpu6000"/>
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</target>
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<target name="test_ahrs" board="cc3d">
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<subsystem name="imu" type="mpu6000"/>
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<subsystem name="ahrs" type="int_cmpl_quat"/>
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<configure name="USE_MAGNETOMETER" value="FALSE"/>
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</target>
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<target name="test_actuators_pwm" board="cc3d"/>
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</firmware>
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<servos driver="Pwm">
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<servo name="ROLL" no="0" min="1000" neutral="1500" max="2000"/>
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<servo name="PITCH" no="1" min="1000" neutral="1500" max="2000"/>
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</servos>
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<commands>
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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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<command_laws>
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<set servo="ROLL" value="-@ROLL"/>
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<set servo="PITCH" value="-@PITCH"/>
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</command_laws>
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<section name="IMU" prefix="IMU_">
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<define name="BODY_TO_IMU_PHI" value="180." unit="deg"/>
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<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="-90." unit="deg"/>
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</section>
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</airframe>
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