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[paparazzi-commits] [4571] update G1 conf
From: |
Gautier Hattenberger |
Subject: |
[paparazzi-commits] [4571] update G1 conf |
Date: |
Wed, 24 Feb 2010 09:45:46 +0000 |
Revision: 4571
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4571
Author: gautier
Date: 2010-02-24 09:45:46 +0000 (Wed, 24 Feb 2010)
Log Message:
-----------
update G1 conf
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 2010-02-24
09:40:44 UTC (rev 4570)
+++ paparazzi3/trunk/conf/airframes/ENAC/quadrotor/booz2_g1.xml 2010-02-24
09:45:46 UTC (rev 4571)
@@ -146,12 +146,13 @@
</section>
- <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
+ <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
<define name="PGAIN" value="-70"/>
<define name="DGAIN" value="-150"/>
<define name="IGAIN" value="-15"/>
<define name="NGAIN" value="-0"/>
- <define name="AGAIN" value="-0"/>
+ <!-- feedforward -->
+ <define name="AGAIN" value="100"/>
</section>
<section name="BAT">
@@ -189,7 +190,7 @@
<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="INITIAL_CONDITITONS" value=""reset_enac""/-->
<define name="SENSORS_PARAMS"
value=""nps_sensors_params_booz2_a1.h""/>
</section>
@@ -207,6 +208,7 @@
ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\"
+sim.CFLAGS += -DNPS_NO_SUPERVISION
include $(CFG_BOOZ)/booz2_simulator_nps.makefile
ap.CFLAGS += -DMODEM_BAUD=B57600
@@ -214,6 +216,7 @@
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_analog_bat_baro.makefile
include $(CFG_BOOZ)/subsystems/booz2_fms_datalink.makefile
include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
@@ -223,10 +226,16 @@
#ap.CFLAGS += -DGPS_LAG=0.8
ap.CFLAGS += -DUSE_GPS_ACC4R
+ap.CFLAGS += -DB2_GUIDANCE_H_USE_REF
+sim.CFLAGS += -DB2_GUIDANCE_H_USE_REF
+
ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
+sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
ap.CFLAGS += -DUSE_CAM
ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c $(SRC_BOOZ)/booz2_cam.c
+sim.CFLAGS += -DUSE_CAM
+sim.srcs += $(SRC_BOOZ_SIM)/booz2_pwm_hw.c $(SRC_BOOZ)/booz2_cam.c
</makefile>
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