mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-07 17:49:49 +08:00
Antoine Drouin
44 lines
1.3 KiB
XML
44 lines
1.3 KiB
XML
<airframe name="BOOZ">
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<servos min="0" neutral="0" max="0xff">
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<servo name="MOTOR_FRONT" no="0" min="0" neutral="0" max="255"/>
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<servo name="MOTOR_BACK" no="1" min="0" neutral="0" max="255"/>
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<servo name="MOTOR_RIGHT" no="3" min="0" neutral="0" max="255"/>
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<servo name="MOTOR_LEFT" no="2" min="0" neutral="0" max="255"/>
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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="P" failsafe_value="0"/>
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<axis name="Q" failsafe_value="0"/>
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<axis name="R" failsafe_value="0"/>
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</commands>
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<command_laws>
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<let var="throttle" value="@THROTTLE"/>
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<let var="p" value="trim_p + @P"/>
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<let var="q" value="trim_q + @Q"/>
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<let var="r" value="trim_r + @R"/>
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<set servo="MOTOR_FRONT" value="$throttle + $q - $r"/>
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<set servo="MOTOR_BACK" value="$throttle - $q - $r"/>
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<set servo="MOTOR_RIGHT" value="$throttle - $p + $r"/>
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<set servo="MOTOR_LEFT" value="$throttle + $p + $r"/>
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</command_laws>
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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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<set command="YAW" value="@YAW"/>
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</rc_commands>
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<makefile>
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include $(PAPARAZZI_SRC)/conf/autopilot/conf_booz.makefile
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</makefile>
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</airframe>
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