[Top][All Lists]
[Date Prev][Date Next][Thread Prev][Thread Next][Date Index][Thread Index]
[paparazzi-commits] [4278] update G1
From: |
Gautier Hattenberger |
Subject: |
[paparazzi-commits] [4278] update G1 |
Date: |
Mon, 19 Oct 2009 12:58:38 +0000 |
Revision: 4278
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4278
Author: gautier
Date: 2009-10-19 12:58:38 +0000 (Mon, 19 Oct 2009)
Log Message:
-----------
update G1
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/ENAC/quadrotor/booz2_g1.xml
Modified: paparazzi3/trunk/conf/airframes/ENAC/quadrotor/booz2_g1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/ENAC/quadrotor/booz2_g1.xml 2009-10-19
12:48:28 UTC (rev 4277)
+++ paparazzi3/trunk/conf/airframes/ENAC/quadrotor/booz2_g1.xml 2009-10-19
12:58:38 UTC (rev 4278)
@@ -97,21 +97,21 @@
<define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
<define name="REF_ZETA_R" value="0.85"/>
- <define name="REF_MAX_R" value="RadOfDeg(180.)"/>
- <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
+ <define name="REF_MAX_R" value="RadOfDeg(90.)"/>
+ <define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-2000"/>
<define name="PHI_DGAIN" value="-400"/>
- <define name="PHI_IGAIN" value="-50"/>
+ <define name="PHI_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="-2000"/>
<define name="THETA_DGAIN" value="-400"/>
- <define name="THETA_IGAIN" value="-50"/>
+ <define name="THETA_IGAIN" value="-200"/>
<define name="PSI_PGAIN" value="-1000"/>
<define name="PSI_DGAIN" value="-350"/>
- <define name="PSI_IGAIN" value="-50"/>
+ <define name="PSI_IGAIN" value="-10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
@@ -182,7 +182,7 @@
</section>
<section name="MISC">
- <define name="BOOZ_ANALOG_BARO_THRESHOLD" value="512"/>
+ <define name="BOOZ_ANALOG_BARO_THRESHOLD" value="800"/>
<define name="BOOZ2_FACE_REINJ_1" value="1024"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
</section>
@@ -209,7 +209,7 @@
sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\"
include $(CFG_BOOZ)/booz2_simulator_nps.makefile
-ap.CFLAGS += -DMODEM_BAUD=B9600
+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
[Prev in Thread] |
Current Thread |
[Next in Thread] |
- [paparazzi-commits] [4278] update G1,
Gautier Hattenberger <=