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[paparazzi-commits] [5044] update airframe file
|
From: |
Felix Ruess |
|
Subject: |
[paparazzi-commits] [5044] update airframe file |
|
Date: |
Tue, 13 Jul 2010 16:04:52 +0000 |
Revision: 5044
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5044
Author: flixr
Date: 2010-07-13 16:04:52 +0000 (Tue, 13 Jul 2010)
Log Message:
-----------
update airframe file
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/booz2_flixr.xml
Modified: paparazzi3/trunk/conf/airframes/booz2_flixr.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_flixr.xml 2010-07-12 18:58:43 UTC
(rev 5043)
+++ paparazzi3/trunk/conf/airframes/booz2_flixr.xml 2010-07-13 16:04:52 UTC
(rev 5044)
@@ -1,115 +1,108 @@
<airframe name="BOOZ2_F1">
- <modules main_freq="512">
- <load name="booz_drop.xml"/>
- <!--load name="booz_cam.xml"/-->
- <!--load name="sonar_maxbotix_booz.xml"/-->
- </modules>
+ <modules main_freq="512">
+ <load name="booz_drop.xml"/>
+ <!--load name="booz_cam.xml"/-->
+ <!--load name="sonar_maxbotix_booz.xml"/-->
+ </modules>
- <servos min="0" neutral="0" max="0xff">
- <servo name="FRONT" no="0" min="0" neutral="0" max="255" />
- <servo name="BACK" no="1" min="0" neutral="0" max="255" />
- <servo name="RIGHT" no="2" min="0" neutral="0" max="255" />
- <servo name="LEFT" no="3" min="0" neutral="0" max="255" />
- </servos>
+ <servos min="0" neutral="0" max="0xff">
+ <servo name="FRONT" no="0" min="0" neutral="0" max="255" />
+ <servo name="BACK" no="1" min="0" neutral="0" max="255" />
+ <servo name="RIGHT" no="2" min="0" neutral="0" max="255" />
+ <servo name="LEFT" no="3" min="0" neutral="0" max="255" />
+ </servos>
- <commands>
- <axis name="PITCH" failsafe_value="0" />
- <axis name="ROLL" failsafe_value="0" />
- <axis name="YAW" failsafe_value="0" />
- <axis name="THRUST" failsafe_value="0" />
- </commands>
+ <commands>
+ <axis name="PITCH" failsafe_value="0" />
+ <axis name="ROLL" failsafe_value="0" />
+ <axis name="YAW" failsafe_value="0" />
+ <axis name="THRUST" failsafe_value="0" />
+ </commands>
- <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
- <define name="NB" value="4" />
- <define name="ADDR" value="{ 0x52, 0x54, 0x58, 0x56 }" />
- </section>
+ <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
+ <define name="NB" value="4" />
+ <define name="ADDR" value="{ 0x52, 0x54, 0x58, 0x56 }" />
+ </section>
- <section name="SUPERVISION" prefix="SUPERVISION_">
- <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" />
+ <section name="SUPERVISION" prefix="SUPERVISION_">
+ <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="SCALE" value="256"/>
- <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}" />
+ <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}" />
<define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/>
- </section>
+ </section>
- <section name="IMU" prefix="IMU_">
- <define name="GYRO_P_CHAN" value="1" />
- <define name="GYRO_Q_CHAN" value="0" />
- <define name="GYRO_R_CHAN" value="2" />
+ <section name="IMU" prefix="IMU_">
+ <define name="GYRO_P_CHAN" value="1" />
+ <define name="GYRO_Q_CHAN" value="0" />
+ <define name="GYRO_R_CHAN" value="2" />
- <define name="GYRO_P_NEUTRAL" value="32362" />
- <define name="GYRO_Q_NEUTRAL" value="32080" />
- <define name="GYRO_R_NEUTRAL" value="32096" />
+ <define name="GYRO_P_NEUTRAL" value="32362" />
+ <define name="GYRO_Q_NEUTRAL" value="32080" />
+ <define name="GYRO_R_NEUTRAL" value="32096" />
- <define name="GYRO_P_SENS" value=" 1.1032765" integer="16" />
- <define name="GYRO_Q_SENS" value="-1.1360802599" integer="16" />
- <define name="GYRO_R_SENS" value="-1.1249874614" integer="16" />
+ <define name="GYRO_P_SENS" value="1.1032765" integer="16" />
+ <define name="GYRO_Q_SENS" value="1.1360802599" integer="16" />
+ <define name="GYRO_R_SENS" value="1.1249874614" integer="16" />
- <define name="ACCEL_X_CHAN" value="3" />
- <define name="ACCEL_Y_CHAN" value="5" />
- <define name="ACCEL_Z_CHAN" value="6" />
+ <define name="ACCEL_X_CHAN" value="3" />
+ <define name="ACCEL_Y_CHAN" value="5" />
+ <define name="ACCEL_Z_CHAN" value="6" />
- <define name="ACCEL_X_SENS" value="-2.45932966" integer="16"/>
- <define name="ACCEL_Y_SENS" value="-2.45106376" integer="16"/>
- <define name="ACCEL_Z_SENS" value="-2.47825717" integer="16"/>
+ <define name="ACCEL_X_SENS" value="2.45932966" integer="16"/>
+ <define name="ACCEL_Y_SENS" value="2.45106376" integer="16"/>
+ <define name="ACCEL_Z_SENS" value="2.47825717" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="31886"/>
<define name="ACCEL_Y_NEUTRAL" value="32162"/>
<define name="ACCEL_Z_NEUTRAL" value="32941"/>
- <define name="MAG_X_CHAN" value="4" />
- <define name="MAG_Y_CHAN" value="0" />
- <define name="MAG_Z_CHAN" value="2" />
+ <define name="MAG_X_CHAN" value="4" />
+ <define name="MAG_Y_CHAN" value="0" />
+ <define name="MAG_Z_CHAN" value="2" />
-<!--
- <define name="MAG_X_SENS" value="-3.3915023" integer="16" />
- <define name="MAG_Y_SENS" value="3.3855561" integer="16" />
- <define name="MAG_Z_SENS" value="-4.50143271" integer="16" />
--->
- <define name="MAG_45_HACK" value="1" />
- <!--define name="MAG_X_SENS" value="-5.14821844457 * sqrt(2)/2"
integer="16"/-->
+ <define name="MAG_45_HACK" value="1" />
+ <!--define name="MAG_X_SENS" value="5.14821844457 * sqrt(2)/2"
integer="16"/-->
<!--define name="MAG_Y_SENS" value="5.11810156597 * sqrt(2)/2"
integer="16"/-->
- <define name="MAG_X_SENS" value="-3.640340173" integer="16"/>
+ <define name="MAG_X_SENS" value="3.640340173" integer="16"/>
<define name="MAG_Y_SENS" value="3.619044324" integer="16"/>
- <define name="MAG_Z_SENS" value="-5.07618333556" integer="16"/>
+ <define name="MAG_Z_SENS" value="5.07618333556" integer="16"/>
+ <define name="MAG_X_SIGN" value="-1" />
+ <define name="MAG_Y_SIGN" value=" 1" />
+ <define name="MAG_Z_SIGN" value="-1" />
<define name="MAG_X_NEUTRAL" value="2059"/>
<define name="MAG_Y_NEUTRAL" value="1944"/>
<define name="MAG_Z_NEUTRAL" value="2099"/>
-<!--
- <define name="MAG_X_NEUTRAL" value="2054" />
- <define name="MAG_Y_NEUTRAL" value="1963" />
- <define name="MAG_Z_NEUTRAL" value="2078" />
--->
- <define name="BODY_TO_IMU_PHI" value="RadOfDeg(0.)" />
- <define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)" />
- <define name="BODY_TO_IMU_PSI" value="RadOfDeg(0.)" />
- </section>
+ <define name="BODY_TO_IMU_PHI" value="RadOfDeg(0.)" />
+ <define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)" />
+ <define name="BODY_TO_IMU_PSI" value="RadOfDeg(0.)" />
+ </section>
- <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+ <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
<!-- setpoints -->
- <define name="SP_MAX_P" value="10000" />
- <define name="SP_MAX_Q" value="10000" />
- <define name="SP_MAX_R" value="10000" />
+ <define name="SP_MAX_P" value="10000" />
+ <define name="SP_MAX_Q" value="10000" />
+ <define name="SP_MAX_R" value="10000" />
<define name="DEADBAND_P" value="0" />
<define name="DEADBAND_Q" value="0" />
<define name="DEADBAND_R" value="200" />
<define name="REF_TAU" value="4" />
<!-- feedback -->
- <define name="GAIN_P" value="-400" />
- <define name="GAIN_Q" value="-400" />
- <define name="GAIN_R" value="-350" />
+ <define name="GAIN_P" value="-400" />
+ <define name="GAIN_Q" value="-400" />
+ <define name="GAIN_R" value="-350" />
<define name="IGAIN_P" value="-75" />
<define name="IGAIN_Q" value="-75" />
@@ -119,134 +112,134 @@
<define name="DDGAIN_P" value="300" />
<define name="DDGAIN_Q" value="300" />
<define name="DDGAIN_R" value="300" />
- </section>
+ </section>
- <section name="STABILIZATION_ATTITUDE"
prefix="BOOZ_STABILIZATION_ATTITUDE_">
+ <section name="STABILIZATION_ATTITUDE"
prefix="BOOZ_STABILIZATION_ATTITUDE_">
- <!-- setpoints -->
- <define name="SP_MAX_PHI" value="RadOfDeg(45.)" />
- <define name="SP_MAX_THETA" value="RadOfDeg(45.)" />
- <define name="SP_MAX_R" value="RadOfDeg(90.)" />
- <define name="DEADBAND_R" value="250" />
+ <!-- setpoints -->
+ <define name="SP_MAX_PHI" value="RadOfDeg(45.)" />
+ <define name="SP_MAX_THETA" value="RadOfDeg(45.)" />
+ <define name="SP_MAX_R" value="RadOfDeg(90.)" />
+ <define name="DEADBAND_R" value="250" />
- <!-- reference -->
- <define name="REF_OMEGA_P" value="RadOfDeg(800)" />
- <define name="REF_ZETA_P" value="0.9" />
- <define name="REF_MAX_P" value="RadOfDeg(300.)" />
- <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)" />
+ <!-- reference -->
+ <define name="REF_OMEGA_P" value="RadOfDeg(800)" />
+ <define name="REF_ZETA_P" value="0.9" />
+ <define name="REF_MAX_P" value="RadOfDeg(300.)" />
+ <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)" />
- <define name="REF_OMEGA_Q" value="RadOfDeg(800)" />
- <define name="REF_ZETA_Q" value="0.9" />
- <define name="REF_MAX_Q" value="RadOfDeg(300.)" />
- <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)" />
+ <define name="REF_OMEGA_Q" value="RadOfDeg(800)" />
+ <define name="REF_ZETA_Q" value="0.9" />
+ <define name="REF_MAX_Q" value="RadOfDeg(300.)" />
+ <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)" />
- <define name="REF_OMEGA_R" value="RadOfDeg(500)" />
- <define name="REF_ZETA_R" value="0.9" />
- <define name="REF_MAX_R" value="RadOfDeg(180.)" />
- <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)" />
+ <define name="REF_OMEGA_R" value="RadOfDeg(500)" />
+ <define name="REF_ZETA_R" value="0.9" />
+ <define name="REF_MAX_R" value="RadOfDeg(180.)" />
+ <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)" />
- <!-- feedback -->
- <define name="PHI_PGAIN" value="-1000" />
- <define name="PHI_DGAIN" value="-300" />
- <define name="PHI_IGAIN" value="-100" />
+ <!-- feedback -->
+ <define name="PHI_PGAIN" value="-1000" />
+ <define name="PHI_DGAIN" value="-300" />
+ <define name="PHI_IGAIN" value="-100" />
- <define name="THETA_PGAIN" value="-1000" />
- <define name="THETA_DGAIN" value="-300" />
- <define name="THETA_IGAIN" value="-100" />
+ <define name="THETA_PGAIN" value="-1000" />
+ <define name="THETA_DGAIN" value="-300" />
+ <define name="THETA_IGAIN" value="-100" />
- <define name="PSI_PGAIN" value="-500" />
- <define name="PSI_DGAIN" value="-320" />
- <define name="PSI_IGAIN" value="-75" />
+ <define name="PSI_PGAIN" value="-500" />
+ <define name="PSI_DGAIN" value="-320" />
+ <define name="PSI_IGAIN" value="-75" />
- <!-- feedforward -->
- <define name="PHI_DDGAIN" value=" 300" />
- <define name="THETA_DDGAIN" value=" 300" />
- <define name="PSI_DDGAIN" value=" 300" />
+ <!-- feedforward -->
+ <define name="PHI_DDGAIN" value=" 300" />
+ <define name="THETA_DDGAIN" value=" 300" />
+ <define name="PSI_DDGAIN" value=" 300" />
- </section>
+ </section>
- <section name="INS" prefix="BOOZ_INS_">
- <define name="BARO_SENS" value="15." integer="16" />
- </section>
+ <section name="INS" prefix="BOOZ_INS_">
+ <define name="BARO_SENS" value="15." integer="16" />
+ </section>
- <section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
- <define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-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="-100"/>
- <define name="HOVER_KD" value="-60"/>
- <define name="HOVER_KI" value="-10"/>
- <!-- 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" />
- </section>
+ <section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
+ <define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-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="-100"/>
+ <define name="HOVER_KD" value="-60"/>
+ <define name="HOVER_KI" value="-10"/>
+ <!-- 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" />
+ </section>
- <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
- <define name="PGAIN" value="-70"/>
- <define name="DGAIN" value="-150"/>
- <define name="IGAIN" value="-15"/>
- </section>
+ <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
+ <define name="PGAIN" value="-70"/>
+ <define name="DGAIN" value="-150"/>
+ <define name="IGAIN" value="-15"/>
+ </section>
- <section name="BAT">
- <define name="MILLIAMP_PER_PERCENT" value="0.86" />
- <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V" />
- <define name="BATTERY_SENS" value="0.246" integer="16" />
- <define name="BATTERY_OFFSET" value="0" />
- </section>
+ <section name="BAT">
+ <define name="MILLIAMP_PER_PERCENT" value="0.86" />
+ <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V" />
+ <define name="BATTERY_SENS" value="0.246" integer="16" />
+ <define name="BATTERY_OFFSET" value="0" />
+ </section>
- <section name="MISC">
- <define name="BOOZ2_FACE_REINJ_1" value="1024"/>
+ <section name="MISC">
+ <define name="BOOZ2_FACE_REINJ_1" value="1024"/>
<define name="BOOZ_ANALOG_BARO_THRESHOLD" value="512"/>
- </section>
+ </section>
<section name="FMS">
</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>
+ <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>
- <section name="BOOZ2_MODE" prefix="BOOZ2_MODE_">
- <define name="MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT" />
- <define name="AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD" />
- <define name="AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD" />
- </section>
+ <section name="BOOZ2_MODE" prefix="BOOZ2_MODE_">
+ <define name="MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT" />
+ <define name="AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD" />
+ <define name="AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD" />
+ </section>
- <makefile>
- ARCH=lpc21
+ <makefile>
+ ARCH=lpc21
ARCHI=arm7
- BOARD_CFG = \"boards/booz2_v1_0.h\"
+ BOARD_CFG = \"boards/booz2_v1_0.h\"
FLASH_MODE = IAP
- # prevents motors from ever starting
- #ap.CFLAGS += -DKILL_MOTORS
- #ap.CFLAGS += -DRADIO_CONTROL_KILL_SWITCH=RADIO_CONTROL_SWITCH1
+ # prevents motors from ever starting
+ #ap.CFLAGS += -DKILL_MOTORS
+ #ap.CFLAGS += -DRADIO_CONTROL_KILL_SWITCH=RADIO_CONTROL_SWITCH1
- include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
- include $(CFG_BOOZ)/booz2_autopilot.makefile
- include $(CFG_BOOZ)/booz2_test_progs.makefile
+ include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+ include $(CFG_BOOZ)/booz2_autopilot.makefile
+ include $(CFG_BOOZ)/booz2_test_progs.makefile
- include $(CFG_BOOZ)/booz2_simulator_nps.makefile
+ include $(CFG_BOOZ)/booz2_simulator_nps.makefile
- ap.CFLAGS += -DMODEM_BAUD=B57600
- include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
- include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
- include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1.makefile
- include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
+ ap.CFLAGS += -DMODEM_BAUD=B57600
+ include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
+ include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
+ include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1.makefile
+ include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
- include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
+ include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
include $(CFG_BOOZ)/subsystems/booz2_fms_datalink.makefile
- include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
- #set GPS lag for horizontal filter
- ap.CFLAGS += -DUSE_GPS_ACC4R
+ include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
+ #set GPS lag for horizontal filter
+ ap.CFLAGS += -DUSE_GPS_ACC4R
#ap.CFLAGS += -DGPS_LAG=0.3
ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c
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Felix Ruess <=