[paparazzi-commits] [4069] update G1

[Gautier Hattenberger]

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="{&quot;front_motor&quot;, 
&quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
+   <define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
+   <define name="SENSORS_PARAMS" 
value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
+ </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