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[paparazzi-commits] [4023] updated for new supervision and integrator in
From: |
antoine drouin |
Subject: |
[paparazzi-commits] [4023] updated for new supervision and integrator in guidance_v |
Date: |
Sun, 30 Aug 2009 13:53:46 +0000 |
Revision: 4023
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4023
Author: poine
Date: 2009-08-30 13:53:46 +0000 (Sun, 30 Aug 2009)
Log Message:
-----------
updated for new supervision and integrator in guidance_v
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/booz2_x1.xml
Modified: paparazzi3/trunk/conf/airframes/booz2_x1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_x1.xml 2009-08-28 20:12:23 UTC
(rev 4022)
+++ paparazzi3/trunk/conf/airframes/booz2_x1.xml 2009-08-30 13:53:46 UTC
(rev 4023)
@@ -15,17 +15,21 @@
<axis name="THRUST" failsafe_value="0"/>
</commands>
- <section name="BUSS_BLMC" prefix="BUSS_BLMC_">
+ <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
+ <define name="NB" value="4"/>
<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
</section>
<section name="SUPERVISION" prefix="SUPERVISION_">
- <define name="FRONT_ROTOR_CW" value="1"/>
<define name="MIN_MOTOR" value="2"/>
<define name="MAX_MOTOR" value="210"/>
<define name="TRIM_A" value="0"/>
<define name="TRIM_E" value="0"/>
<define name="TRIM_R" value="0"/>
+ <define name="NB_MOTOR" value="4"/>
+ <define name="ROLL_COEF" value="{ 0, 0, -256, 256}"/>
+ <define name="PITCH_COEF" value="{ 256, -256, 0, 0}"/>
+ <define name="YAW_COEF" value="{ -256, -256, 256, 256}"/>
</section>
<section name="IMU" prefix="IMU_">
@@ -143,8 +147,10 @@
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
+ <define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="-500"/>
<define name="HOVER_KD" value="-200"/>
+ <define name="HOVER_KI" value="-100"/>
<!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
@@ -189,15 +195,15 @@
# prevents motors from ever starting
#ap.CFLAGS += -DKILL_MOTORS
+ap.CFLAGS += -DMODEM_BAUD=B57600
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
include $(CFG_BOOZ)/booz2_autopilot.makefile
include $(CFG_BOOZ)/booz2_test_progs.makefile
-ap.CFLAGS += -DMODEM_BAUD=B57600
include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
-include $(CFG_BOOZ)/subsystems/booz2_actuators_buss.makefile
+include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
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