mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 23:49:00 +08:00
Felix Ruess
aa4bb5c283
this is not needed anymore. Instead every baro sensor has to output pressure in Pascal.
237 lines
8.6 KiB
XML
237 lines
8.6 KiB
XML
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
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<!-- Weasel by Murat
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Umarim
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XBee modem
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LEA 5H GPS
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-->
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<airframe name="Weasel">
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<autopilot name="fixedwing_autopilot.xml"/>
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<modules>
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<!--load name="airspeed_ads1114.xml"/-->
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<!--load name="mcp355x.xml"/-->
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</modules>
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<firmware name="fixedwing">
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<define name="USE_I2C0"/>
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<define name="USE_I2C1"/>
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<!--define name="AGR_CLIMB"/-->
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<define name="ALT_KALMAN"/>
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<!--define name="USE_AIRSPEED"/-->
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<!--define name="USE_BAROMETER"/-->
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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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<subsystem name="radio_control" type="ppm">
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<define name="USE_PPM_RSSI_GPIO"/>
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<define name="PPM_RSSI_IOPIN" value="IO0PIN"/>
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<define name="PPM_RSSI_PIN" value="17"/>
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<define name="PPM_RSSI_VALID_LEVEL" value="0"/>
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</subsystem>
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<!-- Communication -->
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<subsystem name="telemetry" type="xbee_api"/>
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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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<subsystem name="control" type="new"/>
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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="spi"/-->
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</firmware>
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<!-- commands section -->
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<servos>
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<servo name="MOTOR" no="7" min="1040" neutral="1040" max="2000"/>
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<servo name="AILEVON_LEFT" no="6" min="1750" neutral="1543" max="1250"/>
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<servo name="AILEVON_RIGHT" no="3" min="1250" neutral="1561" max="1750"/>
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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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</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 - $aileron"/>
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<set servo="AILEVON_RIGHT" value="$elevator + $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="45" unit="deg"/>
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<define name="MAX_PITCH" value="30" unit="deg"/>
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</section>
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<section name="IMU" prefix="IMU_">
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<!-- Calibration Neutral -->
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<define name="GYRO_P_NEUTRAL" value="-15"/>
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<define name="GYRO_Q_NEUTRAL" value="94"/>
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<define name="GYRO_R_NEUTRAL" value="-7"/>
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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="0"/>
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<define name="ACCEL_Y_NEUTRAL" value="0"/>
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<define name="ACCEL_Z_NEUTRAL" value="0"/>
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<!-- SENS ADXL345 16G 31.2 mg/LSB, accel frac 10bit => 31.2 * 2^10 / 1000 -->
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<define name="ACCEL_X_SENS" value="31.9488" integer="10"/>
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<define name="ACCEL_Y_SENS" value="31.9488" integer="10"/>
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<define name="ACCEL_Z_SENS" value="31.9488" integer="10"/>
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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="3." unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="0." unit="deg"/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
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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="MISC">
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<define name="NOMINAL_AIRSPEED" value="15." 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="TRIGGER_DELAY" value="1."/>
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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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</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="0.159999996424"/> <!-- -0.024 -->
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="5." unit="m/s"/>
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<!-- Cruise throttle + limits -->
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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="0.85"/>
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<define name="AUTO_PITCH_MAX_PITCH" value="20." unit="deg"/>
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<define name="AUTO_PITCH_MIN_PITCH" value="-20." unit="deg"/>
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<!-- Climb loop (throttle) -->
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="0.003"/> <!-- -0.005 -->
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<define name="AUTO_THROTTLE_DGAIN" value="0.007"/> <!-- 0.005 -->
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<define name="AUTO_THROTTLE_IGAIN" value="0.002"/> <!-- 0.005 -->
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<!-- Climb loop (pitch) -->
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
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<define name="AUTO_PITCH_PGAIN" value="0.006"/> <!-- -0.03 -->
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<define name="AUTO_PITCH_DGAIN" value="0.0"/> <!-- -0.03 -->
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<define name="AUTO_PITCH_IGAIN" value="0.002"/>
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<!-- airspeed control -->
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<define name="AUTO_AIRSPEED_SETPOINT" value="16."/>
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<define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0.1"/>
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<define name="AUTO_AIRSPEED_THROTTLE_DGAIN" value="0.12"/>
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<define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0.0"/>
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<define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0.06"/>
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<define name="AUTO_AIRSPEED_PITCH_DGAIN" value="0.0"/>
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<define name="AUTO_AIRSPEED_PITCH_IGAIN" value="0.042"/>
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<define name="AIRSPEED_MAX" value="30" unit="m/s"/>
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<define name="AIRSPEED_MIN" value="10" unit="m/s"/>
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<!-- groundspeed control -->
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<define name="AUTO_GROUNDSPEED_SETPOINT" value="15" unit="m/s"/>
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<define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
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<define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>
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<!-- pitch trim --> <!-- 5 deg -->
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<define name="PITCH_LOITER_TRIM" value="RadOfDeg(0.)"/>
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<define name="PITCH_DASH_TRIM" value="RadOfDeg(-0.)"/>
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<define name="THROTTLE_SLEW" value="0.1"/>
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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="0.7"/>
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<define name="ROLL_MAX_SETPOINT" value="0.8" 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="ROLL_ATTITUDE_GAIN" value="3800."/>
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<define name="ROLL_RATE_GAIN" value="500."/>
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<define name="ROLL_IGAIN" value="150."/>
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<define name="ROLL_KFFA" value="0"/>
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<define name="ROLL_KFFD" value="0"/>
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<define name="PITCH_PGAIN" value="8000"/>
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<define name="PITCH_DGAIN" value="500"/>
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<define name="PITCH_IGAIN" value="250."/>
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<define name="PITCH_KFFA" value="0."/>
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<define name="PITCH_KFFD" value="0."/>
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<define name="PITCH_OF_ROLL" value="RadOfDeg(0.0)"/>
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<define name="AILERON_OF_THROTTLE" value="0.0"/>
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<!--define name="ELEVATOR_OF_ROLL" value="1400"/-->
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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="FAILSAFE" prefix="FAILSAFE_">
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<define name="DELAY_WITHOUT_GPS" value="2" 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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<section name="SIMU">
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<!--define name="ROLL_RESPONSE_FACTOR" value="10"/>
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<define name="MAX_ROLL_DOT" value="20" unit="rad/s"/-->
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<define name="JSBSIM_MODEL" value=""Malolo1""/>
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<!--define name="JSBSIM_INIT" value=""Malolo1-IC""/-->
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<define name="JSBSIM_LAUNCHSPEED" value="15.0"/>
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<define name="JSBSIM_IR_ROLL_NEUTRAL" value="0." unit="deg"/>
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<define name="JSBSIM_IR_PITCH_NEUTRAL" value="0." unit="deg"/>
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</section>
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</airframe>
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