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[paparazzi-commits] [4069] update G1
From: |
Gautier Hattenberger |
Subject: |
[paparazzi-commits] [4069] update G1 |
Date: |
Thu, 03 Sep 2009 11:45:53 +0000 |
Revision: 4069
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4069
Author: gautier
Date: 2009-09-03 11:45:53 +0000 (Thu, 03 Sep 2009)
Log Message:
-----------
update G1
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/booz2_g1.xml
Modified: paparazzi3/trunk/conf/airframes/booz2_g1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_g1.xml 2009-09-03 11:42:58 UTC
(rev 4068)
+++ paparazzi3/trunk/conf/airframes/booz2_g1.xml 2009-09-03 11:45:53 UTC
(rev 4069)
@@ -16,7 +16,7 @@
<section name="SUPERVISION" prefix="SUPERVISION_">
<define name="TRIM_A" value="0"/>
- <define name="TRIM_E" value="0"/>
+ <define name="TRIM_E" value="6"/>
<define name="TRIM_R" value="0"/>
</section>
@@ -59,7 +59,7 @@
<define name="MAG_Z_SENS" value="-14.675745" integer="16"/>
<define name="BODY_TO_IMU_PHI"
value="ANGLE_BFP_OF_REAL(RadOfDeg(-0.2))"/>
- <define name="BODY_TO_IMU_THETA" value="ANGLE_BFP_OF_REAL(RadOfDeg(0.9))"/>
+ <define name="BODY_TO_IMU_THETA" value="ANGLE_BFP_OF_REAL(RadOfDeg(1.))"/>
<define name="BODY_TO_IMU_PSI" value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))"/>
</section>
@@ -101,17 +101,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
- <define name="PHI_PGAIN" value="-1200"/>
- <define name="PHI_DGAIN" value="-300"/>
- <define name="PHI_IGAIN" value="-200"/>
+ <define name="PHI_PGAIN" value="-2000"/>
+ <define name="PHI_DGAIN" value="-400"/>
+ <define name="PHI_IGAIN" value="-50"/>
- <define name="THETA_PGAIN" value="-1200"/>
- <define name="THETA_DGAIN" value="-300"/>
- <define name="THETA_IGAIN" value="-200"/>
+ <define name="THETA_PGAIN" value="-2000"/>
+ <define name="THETA_DGAIN" value="-400"/>
+ <define name="THETA_IGAIN" value="-50"/>
- <define name="PSI_PGAIN" value="-380"/>
- <define name="PSI_DGAIN" value="-320"/>
- <define name="PSI_IGAIN" value="-75"/>
+ <define name="PSI_PGAIN" value="-1000"/>
+ <define name="PSI_DGAIN" value="-350"/>
+ <define name="PSI_IGAIN" value="-50"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
@@ -122,6 +122,7 @@
<section name="INS" prefix="BOOZ_INS_">
<define name="BARO_SENS" value="15." integer="16"/>
+ <define name="UNTILT_ACCEL" value="1"/>
</section>
<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
@@ -129,20 +130,24 @@
<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="HOVER_KP" value="-200"/>
- <define name="HOVER_KD" value="-350"/>
+ <define name="MAX_SUM_ERR" value="2000000"/>
+ <define name="HOVER_KP" value="-150"/>
+ <define name="HOVER_KD" value="-80"/>
+ <define name="HOVER_KI" value="0"/>
<!-- 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% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
- <define name="INV_M" value="0.118"/>
+ <!-- <define name="INV_M" value="0.118"/> -->
</section>
<section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
- <define name="PGAIN" value="-15"/>
- <define name="DGAIN" value="-4"/>
- <define name="IGAIN" value="-3"/>
+ <define name="PGAIN" value="-50"/>
+ <define name="DGAIN" value="-200"/>
+ <define name="IGAIN" value="-10"/>
+ <define name="NGAIN" value="-0"/>
+ <define name="AGAIN" value="-0"/>
</section>
<section name="BAT">
@@ -154,7 +159,7 @@
<section name="AUTOPILOT">
<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
- <define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_CLIMB"/>
+ <define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_NAV"/>
</section>
<section name="FMS">
@@ -174,7 +179,13 @@
<define name="BOOZ2_FACE_REINJ_1" value="1024"/>
</section>
+ <section name="SIMULATOR" prefix="NPS_">
+ <define name="ACTUATOR_NAMES" value="{"front_motor",
"back_motor", "right_motor", "left_motor"}"/>
+ <define name="INITIAL_CONDITITONS" value=""reset00""/>
+ <define name="SENSORS_PARAMS"
value=""nps_sensors_params_booz2_a1.h""/>
+ </section>
+
<makefile>
ARCH=lpc21
BOARD_CFG = \"boards/booz2_v1_0.h\"
@@ -185,15 +196,26 @@
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
include $(CFG_BOOZ)/booz2_autopilot.makefile
include $(CFG_BOOZ)/booz2_test_progs.makefile
+ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
+sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\"
+include $(CFG_BOOZ)/booz2_simulator_nps.makefile
+
ap.CFLAGS += -DMODEM_BAUD=B57600
include $(CFG_BOOZ)/subsystems/booz2_actuators_asctec.makefile
include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
+include $(CFG_BOOZ)/subsystems/booz2_fms_datalink.makefile
include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
+include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
+#set GPS lag for horizontal filter
+ap.CFLAGS += -DGPS_LAG=0.8
+
+ap.CFLAGS += -DUSE_INS_NAV_INIT
+
ap.CFLAGS += -DUSE_CAM
ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c $(SRC_BOOZ)/booz2_cam.c
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