[paparazzi-commits] [6170] updated airframe

paparazzi-commits
[Date Prev][Date Next][Thread Prev][Thread Next][Date Index][Thread Index]
[paparazzi-commits] [6170] updated airframe

From:	Eric
Subject:	[paparazzi-commits] [6170] updated airframe
Date:	Tue, 19 Oct 2010 09:06:51 +0000
Revision: 6170
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6170
Author:   lamestllama
Date:     2010-10-19 09:06:51 +0000 (Tue, 19 Oct 2010)
Log Message:
-----------
updated airframe

Modified Paths:
--------------
    paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_LISA.xml

Modified: paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_LISA.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_LISA.xml  2010-10-18 
22:36:14 UTC (rev 6169)
+++ paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_LISA.xml  2010-10-19 
09:06:51 UTC (rev 6170)
@@ -7,10 +7,10 @@
   </modules>
 
   <servos>
-    <servo name="FRONT"  no="3" min="1000" neutral="1500" max="2000"/>
-    <servo name="BACK"   no="1" min="1000" neutral="1500" max="2000"/>
-    <servo name="LEFT"   no="2" min="1000" neutral="1500" max="2000"/>
-    <servo name="RIGHT"  no="0" min="1000" neutral="1500" max="2000"/>
+    <servo name="FRONT"  no="2" min="1000" neutral="1500" max="2000"/>
+    <servo name="BACK"   no="0" min="1000" neutral="1500" max="2000"/>
+    <servo name="LEFT"   no="1" min="1000" neutral="1500" max="2000"/>
+    <servo name="RIGHT"  no="3" min="1000" neutral="1500" max="2000"/>
     <servo name="ESC"    no="4" min="1000" neutral="1000" max="2000"/>
   </servos>
 
@@ -20,44 +20,50 @@
     <axis name="YAW"    failsafe_value="0"/>
     <axis name="THRUST" failsafe_value="0"/>
   </commands>
-
+<!--
   <command_laws>
     <set servo="ESC"        value="motors_on?ESC_HOVER:ESC_STOPPED"/>
-    <set servo="FRONT"      value=" @PITCH + @YAW - (@THRUST<<5)"/>
-    <set servo="BACK"       value="address@hidden + @YAW - (@THRUST<<5)"/>
-    <set servo="LEFT"       value=" @ROLL  - @YAW - (@THRUST<<5)"/>
-    <set servo="RIGHT"      value="address@hidden  - @YAW - (@THRUST<<5)"/>
+    <set servo="FRONT"      value="-(@PITCH + @YAW + (1.3 * (@THRUST<<5)))"/>
+    <set servo="BACK"       value="-(address@hidden + @YAW + (1.3 
*(@THRUST<<5)))"/>
+    <set servo="LEFT"       value="-(@ROLL  - @YAW + (1.3 *(@THRUST<<5)))"/>
+    <set servo="RIGHT"      value="-(address@hidden  - @YAW + (1.3 
*(@THRUST<<5)))"/>
   </command_laws>
-
+-->
+  <command_laws>
+    <set servo="ESC"        value="motors_on?ESC_HOVER:ESC_STOPPED"/>
+    <set servo="FRONT"      value="-(@PITCH - @YAW + @THRUST)"/>
+    <set servo="BACK"       value="-(address@hidden - @YAW + @THRUST)"/>
+    <set servo="LEFT"       value="-(@ROLL  + @YAW + @THRUST)"/>
+    <set servo="RIGHT"      value="-(address@hidden  + @YAW + @THRUST)"/>
+  </command_laws>
   <section name="IMU" prefix="IMU_">
 
-    <define name="GYRO_P_NEUTRAL" value="32858"/>
-    <define name="GYRO_Q_NEUTRAL" value="33152"/>
-    <define name="GYRO_R_NEUTRAL" value="31779"/>
+    <define name="GYRO_P_NEUTRAL" value="33550"/>
+    <define name="GYRO_Q_NEUTRAL" value="33500"/>
+    <define name="GYRO_R_NEUTRAL" value="32500"/>
     <define name="GYRO_P_SENS" value=" 1.101357422" integer="16"/>
     <define name="GYRO_Q_SENS" value=" 1.122670898" integer="16"/>
     <define name="GYRO_R_SENS" value=" 1.104890137" integer="16"/>
 
+    <!-- accelerations done on 18/10/2010 -->
+    <define name="ACCEL_X_NEUTRAL" value="32093"/>
+    <define name="ACCEL_Y_NEUTRAL" value="32301"/>
+    <define name="ACCEL_Z_NEUTRAL" value="32293"/>
+    <define name="ACCEL_X_SENS" value="2.53098065315" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="2.52055255767" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="2.57032707747" integer="16"/>
 
-    <define name="ACCEL_X_NEUTRAL" value="32899"/>
-    <define name="ACCEL_Y_NEUTRAL" value="33281"/>
-    <define name="ACCEL_Z_NEUTRAL" value="32569"/>
-    <define name="ACCEL_X_SENS" value="2.57702956051" integer="16"/>
-    <define name="ACCEL_Y_SENS" value="2.57835230627" integer="16"/>
-    <define name="ACCEL_Z_SENS" value="2.54311399868" integer="16"/>
+<define name="MAG_X_NEUTRAL" value="-9"/>
+<define name="MAG_Y_NEUTRAL" value="-4"/>
+<define name="MAG_Z_NEUTRAL" value="14"/>
+<define name="MAG_X_SENS" value="3.61018203965" integer="16"/>
+<define name="MAG_Y_SENS" value="4.13471628028" integer="16"/>
+<define name="MAG_Z_SENS" value="2.07762920804" integer="16"/>
 
+    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(   0.53 )"/>
+    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(   -1.24 )"/>
+    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg( 0)"/>
 
-    <define name="MAG_X_NEUTRAL" value="30"/>
-    <define name="MAG_Y_NEUTRAL" value="80"/>
-    <define name="MAG_Z_NEUTRAL" value="19"/>
-    <define name="MAG_X_SENS" value="4.73590916868" integer="16"/>
-    <define name="MAG_Y_SENS" value="4.86013203775" integer="16"/>
-    <define name="MAG_Z_SENS" value="2.5947951512" integer="16"/>
-
-    <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( 135.)"/>
-
   </section>
 
  <section name="AUTOPILOT">
@@ -109,6 +115,24 @@
     <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
+    <!-- feedback 
+    <define name="PHI_PGAIN"  value="-5000"/>
+    <define name="PHI_DGAIN"  value="-400"/>
+    <define name="PHI_IGAIN"  value="-200"/>
+
+    <define name="THETA_PGAIN"  value="-5000"/>
+    <define name="THETA_DGAIN"  value="-400"/>
+    <define name="THETA_IGAIN"  value="-400"/>
+
+    <define name="PSI_PGAIN"  value="2000"/>
+    <define name="PSI_DGAIN"  value="350"/>
+    <define name="PSI_IGAIN"  value="10"/>
+
+    feedforward
+    <define name="PHI_DDGAIN"   value=" 300"/>
+    <define name="THETA_DDGAIN" value=" 300"/>
+    <define name="PSI_DDGAIN"   value=" -300"/> -->
+    
     <!-- feedback -->
     <define name="PHI_PGAIN"  value="-2000"/>
     <define name="PHI_DGAIN"  value="-400"/>
@@ -118,14 +142,14 @@
     <define name="THETA_DGAIN"  value="-400"/>
     <define name="THETA_IGAIN"  value="-400"/>
 
-    <define name="PSI_PGAIN"  value="-1000"/>
-    <define name="PSI_DGAIN"  value="-350"/>
-    <define name="PSI_IGAIN"  value="-10"/>
+    <define name="PSI_PGAIN"  value="1000"/>
+    <define name="PSI_DGAIN"  value="350"/>
+    <define name="PSI_IGAIN"  value="10"/>
 
     <!-- feedforward -->
     <define name="PHI_DDGAIN"   value=" 300"/>
     <define name="THETA_DDGAIN" value=" 300"/>
-    <define name="PSI_DDGAIN"   value=" 300"/>
+    <define name="PSI_DDGAIN"   value=" -300"/>
 
   </section>
 
@@ -163,9 +187,10 @@
 
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_l_1.0">
-      <define name = "RADIO_CONTROL_MODE" value = "RADIO_CONTROL_AUX2"/>
+      <define name = "RADIO_CONTROL_MODE" value = "RADIO_CONTROL_AUX1"/>
       <define name = "RADIO_CONTROL_KILL_SWITCH" value = "RADIO_CONTROL_GEAR"/>
       <define name = "HELI"/>
+ <!--     <define name = "KILL_MOTORS" /> -->
  <!-- if we want a secondary spektrum reciever we need to set the board to be 
       lisa_l_1.1 and rewired accordingly then set the following.    
       <define name = "RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value = "UART5"/>
[Prev in Thread]
Current Thread
[Next in Thread]
[paparazzi-commits] [6170] updated airframe, Eric <=
Prev by Date: [paparazzi-commits] [6169] Adapt ArduIMU to new i2c, fix gps.
Next by Date: [paparazzi-commits] [6171] updated airframe
Previous by thread: [paparazzi-commits] [6169] Adapt ArduIMU to new i2c, fix gps.
Next by thread: [paparazzi-commits] [6171] updated airframe
Index(es):
- Date
- Thread