mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-06 07:53:43 +08:00
Allen Ibara
61 lines
2.1 KiB
XML
61 lines
2.1 KiB
XML
<airframe name="CSCAP">
|
|
|
|
<!-- commands section -->
|
|
<servos>
|
|
<servo name="AILERON" no="0" min="1000" neutral="1523" max="2000"/>
|
|
<servo name="ELEVATOR" no="1" min="2000" neutral="1500" max="1000"/>
|
|
<servo name="RUDDER" no="2" min="1000" neutral="1500" max="2000"/>
|
|
<servo name="DRAG1" no="3" min="1000" neutral="1500" max="2000"/>
|
|
<servo name="DRAG2" no="4" min="1000" neutral="1500" max="2000"/>
|
|
<servo name="DRAG3" no="5" min="1000" neutral="1500" max="2000"/>
|
|
<servo name="DRAG4" no="6" min="1000" neutral="1500" max="2000"/>
|
|
</servos>
|
|
|
|
<csc_boards>
|
|
<board id="0">
|
|
<msg id="SERVO_CMD_ID" type="ServoCmd">
|
|
<field_map field="servos[0]" servo_id="SERVO_AILERON"/>
|
|
<field_map field="servos[1]" servo_id="SERVO_ELEVATOR"/>
|
|
<field_map field="servos[2]" servo_id="SERVO_RUDDER"/>
|
|
</msg>
|
|
</board>
|
|
<board id="1">
|
|
<msg id="SERVO_CMD_ID" type="ServoCmd">
|
|
<field_map field="servos[0]" servo_id="SERVO_DRAG1"/>
|
|
<field_map field="servos[1]" servo_id="SERVO_DRAG2"/>
|
|
<field_map field="servos[2]" servo_id="SERVO_DRAG3"/>
|
|
<field_map field="servos[3]" servo_id="SERVO_DRAG4"/>
|
|
</msg>
|
|
</board>
|
|
</csc_boards>
|
|
|
|
|
|
<commands>
|
|
<axis name="ROLL" failsafe_value="0"/>
|
|
<axis name="PITCH" failsafe_value="0"/>
|
|
<axis name="YAW" failsafe_value="0"/>
|
|
</commands>
|
|
|
|
<rc_commands>
|
|
<set command="ROLL" value="@ROLL"/>
|
|
<set command="PITCH" value="@PITCH"/>
|
|
<set command="YAW" value="@YAW"/>
|
|
</rc_commands>
|
|
|
|
<command_laws>
|
|
<set servo="ELEVATOR" value="@PITCH"/>
|
|
<set servo="AILERON" value="@ROLL"/>
|
|
<set servo="RUDDER" value="@YAW"/>
|
|
<set servo="DRAG1" value="csc_drag_yaw * @YAW + csc_drag_pitch * @PITCH"/>
|
|
<set servo="DRAG2" value="-csc_drag_yaw * @YAW + csc_drag_pitch * @PITCH"/>
|
|
<set servo="DRAG3" value="-csc_drag_yaw * @YAW + -csc_drag_pitch * @PITCH"/>
|
|
<set servo="DRAG4" value="csc_drag_yaw * @YAW + -csc_drag_pitch * @PITCH"/>
|
|
</command_laws>
|
|
|
|
<makefile>
|
|
include $(PAPARAZZI_SRC)/conf/autopilot/pwm_input.makefile
|
|
include $(PAPARAZZI_SRC)/conf/autopilot/csc_ap.makefile
|
|
</makefile>
|
|
|
|
</airframe>
|