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[paparazzi-commits] [4131] fix thrust coefs in airframe files
|
From: |
Felix Ruess |
|
Subject: |
[paparazzi-commits] [4131] fix thrust coefs in airframe files |
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Date: |
Thu, 10 Sep 2009 08:33:03 +0000 |
Revision: 4131
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4131
Author: flixr
Date: 2009-09-10 08:33:03 +0000 (Thu, 10 Sep 2009)
Log Message:
-----------
fix thrust coefs in airframe files
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/booz2_a1.xml
paparazzi3/trunk/conf/airframes/booz2_a5.xml
paparazzi3/trunk/conf/airframes/booz2_flixr.xml
paparazzi3/trunk/conf/airframes/booz2_x1.xml
Modified: paparazzi3/trunk/conf/airframes/booz2_a1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_a1.xml 2009-09-09 18:16:09 UTC
(rev 4130)
+++ paparazzi3/trunk/conf/airframes/booz2_a1.xml 2009-09-10 08:33:03 UTC
(rev 4131)
@@ -30,7 +30,7 @@
<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="{ 1, 1, 1, 1}"/>
+ <define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/>
</section>
<section name="IMU" prefix="IMU_">
@@ -46,10 +46,10 @@
<define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
<define name="GYRO_Q_SENS" value="-1.01" integer="16"/>
<define name="GYRO_R_SENS" value="-1.01" 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_Z_CHAN" value="6"/>
<define name="ACCEL_X_SENS" value="-2.50411474" integer="16"/>
<define name="ACCEL_Y_SENS" value="-2.48126183" integer="16"/>
@@ -62,9 +62,9 @@
<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_NEUTRAL" value="2358"/>
- <define name="MAG_Y_NEUTRAL" value="2362"/>
+ <define name="MAG_Y_NEUTRAL" value="2362"/>
<define name="MAG_Z_NEUTRAL" value="2119"/>
<!-- <define name="MAG_X_SENS" value="-4.94075530" integer="16"/>-->
Modified: paparazzi3/trunk/conf/airframes/booz2_a5.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_a5.xml 2009-09-09 18:16:09 UTC
(rev 4130)
+++ paparazzi3/trunk/conf/airframes/booz2_a5.xml 2009-09-10 08:33:03 UTC
(rev 4131)
@@ -20,7 +20,7 @@
<define name="NB" value="6"/>
<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58, 0x5A, 0X5C }"/>
</section>
-
+
<section name="SUPERVISION" prefix="SUPERVISION_">
<define name="MIN_MOTOR" value="2"/>
<define name="MAX_MOTOR" value="210"/>
@@ -32,7 +32,7 @@
<define name="ROLL_COEF" value="{ -69, 69, -256, 256, -186, 186 }"/>
<define name="PITCH_COEF" value="{ -256, -256, 0, 0, 256, 256 }"/>
<define name="YAW_COEF" value="{ -153, 153, 256, -256, -115, 115 }"/>
- <define name="THRUST_COEF" value="{ 1, 1, 1, 1, 1, 1 }"/>
+ <define name="THRUST_COEF" value="{ 256, 256, 256, 256, 256, 256 }"/>
</section>
<section name="IMU" prefix="IMU_">
@@ -48,11 +48,11 @@
<define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
<define name="GYRO_Q_SENS" value="-1.01" integer="16"/>
<define name="GYRO_R_SENS" value="-1.01" integer="16"/>
-
+
<define name="ACCEL_X_CHAN" value="5"/>
<define name="ACCEL_Y_CHAN" value="3"/>
- <define name="ACCEL_Z_CHAN" value="4"/>
+ <define name="ACCEL_Z_CHAN" value="4"/>
<define name="ACCEL_X_SENS" value="-2.53973936" integer="16"/>
<define name="ACCEL_Y_SENS" value="-2.58673329" integer="16"/>
@@ -220,7 +220,7 @@
lpc_test_motors.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
lpc_test_motors.srcs += $(SRC_ARCH)/uart_hw.c
-lpc_test_motors.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart1
+lpc_test_motors.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart1
lpc_test_motors.srcs += downlink.c pprz_transport.c
lpc_test_motors.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart1
Modified: paparazzi3/trunk/conf/airframes/booz2_flixr.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_flixr.xml 2009-09-09 18:16:09 UTC
(rev 4130)
+++ paparazzi3/trunk/conf/airframes/booz2_flixr.xml 2009-09-10 08:33:03 UTC
(rev 4131)
@@ -20,15 +20,17 @@
</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" />
- <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="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="THRUST_COEF" value="{ 256, 256, 256, 256}"/>
</section>
<section name="IMU" prefix="IMU_">
Modified: paparazzi3/trunk/conf/airframes/booz2_x1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_x1.xml 2009-09-09 18:16:09 UTC
(rev 4130)
+++ paparazzi3/trunk/conf/airframes/booz2_x1.xml 2009-09-10 08:33:03 UTC
(rev 4131)
@@ -31,7 +31,7 @@
<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="{ 1, 1, 1, 1}"/>
+ <define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/>
</section>
<section name="IMU" prefix="IMU_">
@@ -47,10 +47,10 @@
<define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
<define name="GYRO_Q_SENS" value="-1.01" integer="16"/>
<define name="GYRO_R_SENS" value="-1.01" integer="16"/>
-
+
<define name="ACCEL_X_CHAN" value="5"/>
<define name="ACCEL_Y_CHAN" value="3"/>
- <define name="ACCEL_Z_CHAN" value="4"/>
+ <define name="ACCEL_Z_CHAN" value="4"/>
@@ -61,13 +61,13 @@
<define name="ACCEL_X_NEUTRAL" value="29174"/>
<define name="ACCEL_Y_NEUTRAL" value="29720"/>
<define name="ACCEL_Z_NEUTRAL" value="28629"/>
-
+
<define name="MAG_X_CHAN" value="0"/>
<define name="MAG_Y_CHAN" value="1"/>
<define name="MAG_Z_CHAN" value="2"/>
-
+
<define name="MAG_X_SENS" value="5.20834273" integer="16"/>
<define name="MAG_Y_SENS" value="-5.22061499" integer="16"/>
<define name="MAG_Z_SENS" value="-2.69279936" integer="16"/>
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