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[paparazzi-commits] [4402] Update
From: |
Anton K. |
Subject: |
[paparazzi-commits] [4402] Update |
Date: |
Sun, 27 Dec 2009 00:55:07 +0000 |
Revision: 4402
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4402
Author: antonk
Date: 2009-12-27 00:55:04 +0000 (Sun, 27 Dec 2009)
Log Message:
-----------
Update
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/booz2_NoVa.xml
Modified: paparazzi3/trunk/conf/airframes/booz2_NoVa.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_NoVa.xml 2009-12-27 00:52:52 UTC
(rev 4401)
+++ paparazzi3/trunk/conf/airframes/booz2_NoVa.xml 2009-12-27 00:55:04 UTC
(rev 4402)
@@ -1,5 +1,12 @@
<airframe name="BOOZ2_NoVa">
+<!-- PPZUAV_BOOZ2_NoVa
+ PPZUAV_BOOZ2_MAIN_001 main board
+ PPZUAV_BOOZ2_IMU_001 IMU
+ PPZUAV_BOOZ2_GPS_001 LEA-5H GPS
+ Datamodems configured for 57600 baud
+ Asctec speed controllers-->
+
<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"/>
@@ -181,19 +188,19 @@
<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="0.19" integer="16"/>
+ <define name="BATTERY_SENS" value="0.18" integer="16"/>
<!-- <define name="BATTERY_SENS" value="1" integer="16"/>-->
</section>
<section name="AUTOPILOT">
<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
- <define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/>
- <define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
+ <define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
+ <define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_HOVER_Z_HOLD"/>
</section>
<section name="MISC">
- <define name="BOOZ_ANALOG_BARO_THRESHOLD" value="800"/>
+
<define name="BOOZ2_FACE_REINJ_1" value="1024"/>
</section>
@@ -207,7 +214,7 @@
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
+#ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
#ap.CFLAGS += -DMODEM_BAUD=B38400
ap.CFLAGS += -DMODEM_BAUD=B57600
@@ -215,17 +222,16 @@
include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.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
+#include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
#set GPS lag for horizontal filter
#ap.CFLAGS += -DGPS_LAG=0.8
-ap.CFLAGS += -DUSE_GPS_ACC4R -DGPS_USE_LATLONG
+ap.CFLAGS += -DGPS_USE_LATLONG
-ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
+#ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
</makefile>
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