mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 15:30:08 +08:00
Christophe De Wagter
220 lines
7.5 KiB
XML
220 lines
7.5 KiB
XML
<!-- this is the biplan equiped with Lisa/L#XXX, aspirin IMU and asctec V2 controllers -->
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<airframe name="booz2_a8">
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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="1" min="0" neutral="0" max="255"/>
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<servo name="LEFT" no="2" min="0" neutral="0" max="255"/>
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<servo name="RIGHT" 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="SUPERVISION" prefix="SUPERVISION_">
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<define name="MIN_MOTOR" value="3"/>
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<define name="MAX_MOTOR" value="200"/>
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<define name="TRIM_A" value="0"/>
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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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<!-- this is my crista -->
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<!--
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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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<define name="GYRO_P_NEUTRAL" value="31288"/>
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<define name="GYRO_Q_NEUTRAL" value="32593"/>
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<define name="GYRO_R_NEUTRAL" value="32709"/>
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<define name="GYRO_P_SENS" value=" 0.943560" integer="16"/>
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<define name="GYRO_Q_SENS" value=" 0.926199" integer="16"/>
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<define name="GYRO_R_SENS" value=" 0.931912" 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="32857"/>
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<define name="ACCEL_Y_NEUTRAL" value="32429"/>
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<define name="ACCEL_Z_NEUTRAL" value="32593"/>
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<define name="ACCEL_X_SENS" value="-2.58273701242" integer="16"/>
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<define name="ACCEL_Y_SENS" value="-2.54076215332" integer="16"/>
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<define name="ACCEL_Z_SENS" value="-2.57633620646" integer="16"/>
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<define name="MAG_X_SIGN" value="-43"/>
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<define name="MAG_Y_SIGN" value=" 49"/>
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<define name="MAG_Z_SIGN" value="-66"/>
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<define name="MAG_X_NEUTRAL" value="-43"/>
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<define name="MAG_Y_NEUTRAL" value=" 49"/>
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<define name="MAG_Z_NEUTRAL" value="-66"/>
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<define name="MAG_X_SENS" value=" 5.32718104135" integer="16"/>
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<define name="MAG_Y_SENS" value="-4.87857821202" integer="16"/>
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<define name="MAG_Z_SENS" value="-3.11986612709" integer="16"/>
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<define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0.)"/>
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<define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0.)"/>
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<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 45.)"/>
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<define name="GYRO_P_CHAN" value="0"/>
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<define name="GYRO_Q_CHAN" value="4"/>
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<define name="GYRO_R_CHAN" value="1"/>
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<define name="ACCEL_X_CHAN" value="5"/>
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<define name="ACCEL_Y_CHAN" value="2"/>
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<define name="ACCEL_Z_CHAN" value="6"/>
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</section>
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-->
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<!-- booz2
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<section name="IMU" prefix="IMU_">
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<define name="GYRO_P_NEUTRAL" value="31948"/>
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<define name="GYRO_Q_NEUTRAL" value="31834"/>
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<define name="GYRO_R_NEUTRAL" value="32687"/>
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<define name="GYRO_P_SENS" value=" 1.101357422" integer="16"/>
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<define name="GYRO_Q_SENS" value=" 1.122670898" integer="16"/>
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<define name="GYRO_R_SENS" value=" 1.104890137" integer="16"/>
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<define name="ACCEL_X_SENS" value=" 2.58273701242" integer="16"/>
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<define name="ACCEL_Y_SENS" value=" 2.54076215332" integer="16"/>
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<define name="ACCEL_Z_SENS" value=" 2.57633620646" integer="16"/>
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<define name="ACCEL_X_NEUTRAL" value="32857"/>
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<define name="ACCEL_Y_NEUTRAL" value="32429"/>
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<define name="ACCEL_Z_NEUTRAL" value="32593"/>
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<define name="MAG_X_SENS" value=" 5.32718104135" integer="16"/>
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<define name="MAG_Y_SENS" value=" 4.87857821202" integer="16"/>
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<define name="MAG_Z_SENS" value=" 3.11986612709" integer="16"/>
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<define name="MAG_X_NEUTRAL" value="-43"/>
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<define name="MAG_Y_NEUTRAL" value=" 49"/>
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<define name="MAG_Z_NEUTRAL" value="-66"/>
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<define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0.)"/>
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<define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0.)"/>
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<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 45.)"/>
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</section>
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-->
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<!-- aspirin -->
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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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<define name="GYRO_P_NEUTRAL" value="186"/>
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<define name="GYRO_Q_NEUTRAL" value="-21"/>
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<define name="GYRO_R_NEUTRAL" value="25"/>
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<define name="GYRO_P_SENS" value=" 5." integer="16"/>
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<define name="GYRO_Q_SENS" value=" 5." integer="16"/>
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<define name="GYRO_R_SENS" value=" 5." 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="32857"/>
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<define name="ACCEL_Y_NEUTRAL" value="32429"/>
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<define name="ACCEL_Z_NEUTRAL" value="32593"/>
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<define name="ACCEL_X_SENS" value="-2.58273701242" integer="16"/>
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<define name="ACCEL_Y_SENS" value="-2.54076215332" integer="16"/>
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<define name="ACCEL_Z_SENS" value="-2.57633620646" integer="16"/>
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<define name="MAG_X_SIGN" value="1"/>
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<define name="MAG_Y_SIGN" value="1"/>
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<define name="MAG_Z_SIGN" value="1"/>
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<define name="MAG_X_NEUTRAL" value="-43"/>
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<define name="MAG_Y_NEUTRAL" value=" 49"/>
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<define name="MAG_Z_NEUTRAL" value="-66"/>
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<define name="MAG_X_SENS" value=" 5.32718104135" integer="16"/>
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<define name="MAG_Y_SENS" value="-4.87857821202" integer="16"/>
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<define name="MAG_Z_SENS" value="-3.11986612709" integer="16"/>
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<define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0.)"/>
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<define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0.)"/>
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<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 45.)"/>
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<define name="GYRO_P_CHAN" value="0"/>
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<define name="GYRO_Q_CHAN" value="4"/>
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<define name="GYRO_R_CHAN" value="1"/>
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<define name="ACCEL_X_CHAN" value="5"/>
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<define name="ACCEL_Y_CHAN" value="2"/>
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<define name="ACCEL_Z_CHAN" value="6"/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<define name="BATTERY_SENS" value="0.48" integer="16"/>
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</section>
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<firmware name="lisa_passthrough">
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<target name="stm_passthrough" board="lisa_l_1.0" processor="stm32" >
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</target>
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<subsystem name="radio_control" type="spektrum">
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<param name="RADIO_CONTROL_SPEKTRUM_MODEL"
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value="\\\"booz/radio_control/booz_radio_control_spektrum_dx7se.h\\\""/>
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</subsystem>
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<subsystem name="imu" type="b2_v1.1"/>
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<target name="overo_test_passthrough" board="lisa_l_1.0" processor="omap" >
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<param name="HOST" value="A7"/>
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<param name="USER" value=""/>
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<param name="TARGET_DIR" value="~"/>
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<param name="PERIODIC_FREQ" value="512"/>
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</target>
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</firmware>
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<firmware name="lisa_l_test_progs">
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<target name="test_telemetry" board="lisa_l_1.0">
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<param name="MODEM_PORT" value="UART2"/>
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</target>
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<target name="test_baro" board="lisa_l_1.0"/>
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<target name="test_spektrum" board="lisa_l_1.0"/>
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</firmware>
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</airframe>
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