[paparazzi-commits] [4149] update settings for booz

[Gautier Hattenberger]

Revision: 4149
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4149
Author:   gautier
Date:     2009-09-11 11:59:36 +0000 (Fri, 11 Sep 2009)
Log Message:
-----------
update settings for booz

Modified Paths:
--------------
    paparazzi3/trunk/conf/airframes/booz2_g1.xml
    paparazzi3/trunk/conf/flight_plans/booz_test_2.xml
    paparazzi3/trunk/conf/settings/booz2_cam.xml
    paparazzi3/trunk/conf/settings/settings_booz2.xml

Modified: paparazzi3/trunk/conf/airframes/booz2_g1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_g1.xml        2009-09-11 11:57:10 UTC 
(rev 4148)
+++ paparazzi3/trunk/conf/airframes/booz2_g1.xml        2009-09-11 11:59:36 UTC 
(rev 4149)
@@ -147,8 +147,8 @@
 
 
  <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
-   <define name="PGAIN" value="-60"/>
-   <define name="DGAIN" value="-170"/>
+   <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"/>
@@ -174,8 +174,8 @@
     <define name="TILT_NEUTRAL" value="1500"/>
     <define name="TILT_MIN" value="1000"/>
     <define name="TILT_MAX" value="2000"/>
-    <define name="TILT_ANGLE_MIN" value="RadOfDeg(-70.)" unit="rad"/>
-    <define name="TILT_ANGLE_MAX" value="RadOfDeg( 70.)" unit="rad"/>
+    <define name="TILT_ANGLE_MIN" value="RadOfDeg(-85.)" unit="rad"/>
+    <define name="TILT_ANGLE_MAX" value="RadOfDeg( 30.)" unit="rad"/>
     <define name="PAN_NEUTRAL" value="0"/>
     <define name="PAN_MIN" value="0"/>
     <define name="PAN_MAX" value="25736"/> <!-- 360 deg (2^12) -->

Modified: paparazzi3/trunk/conf/flight_plans/booz_test_2.xml
===================================================================
--- paparazzi3/trunk/conf/flight_plans/booz_test_2.xml  2009-09-11 11:57:10 UTC 
(rev 4148)
+++ paparazzi3/trunk/conf/flight_plans/booz_test_2.xml  2009-09-11 11:59:36 UTC 
(rev 4149)
@@ -23,10 +23,13 @@
       <call fun="NavKillThrottle()"/>
       <attitude pitch="0" roll="0" throttle="0" vmode="throttle" 
until="FALSE"/>
     </block>
+    <block name="Start Engine">
+      <call fun="NavResurrect()"/>
+      <attitude pitch="0" roll="0" throttle="0" vmode="throttle" 
until="FALSE"/>
+    </block>
     <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
       <exception cond="booz_ins_enu_pos.z > POS_BFP_OF_REAL(2.)" 
deroute="Standby"/>
       <call fun="NavSetWaypointHere(WP_CLIMB)"/>
-      <call fun="NavResurrect()"/>
       <while cond="LessThan(NavBlockTime(), 3)"/>
       <stay height="4.0" vmode="alt" wp="CLIMB"/>
     </block>

Modified: paparazzi3/trunk/conf/settings/booz2_cam.xml
===================================================================
--- paparazzi3/trunk/conf/settings/booz2_cam.xml        2009-09-11 11:57:10 UTC 
(rev 4148)
+++ paparazzi3/trunk/conf/settings/booz2_cam.xml        2009-09-11 11:59:36 UTC 
(rev 4149)
@@ -7,7 +7,11 @@
         <strip_button name="CH" value="2"/>
         <strip_button name="CWP" value="3"/>
       </dl_setting>
-      <dl_setting var="booz2_cam_tilt" min="1000" step="1" max="2000" 
module="booz2_cam" shortname="tilt"/>
+      <dl_setting var="booz2_cam_tilt_pwm" min="1000" step="1" max="2000" 
module="booz2_cam" shortname="tilt_pwm"/>
+      <dl_setting var="booz2_cam_tilt" min="-90" step="1" max="45" 
module="booz2_cam" shortname="tilt" alt_unit="deg" alt_unit_coef="0.0139882">
+        <strip_button name="Look Foreward" icon="lookfore.png" value="0"/>
+        <strip_button name="Look Down" icon="lookdown.png" value="-6434"/>
+      </dl_setting>
       <dl_setting var="booz2_cam_pan" MIN="0" STEP="1" MAX="360" 
module="booz2_cam" shortname="pan" unit="1/2^12r" alt_unit="deg" 
alt_unit_coef="0.0139882"/>
     </dl_settings>
 

Modified: paparazzi3/trunk/conf/settings/settings_booz2.xml
===================================================================
--- paparazzi3/trunk/conf/settings/settings_booz2.xml   2009-09-11 11:57:10 UTC 
(rev 4148)
+++ paparazzi3/trunk/conf/settings/settings_booz2.xml   2009-09-11 11:59:36 UTC 
(rev 4149)
@@ -58,6 +58,7 @@
    <dl_settings NAME="NAV">
      <dl_setting var="flight_altitude" MIN="0" STEP="0.1" MAX="400" 
module="booz2_navigation" unit="m" handler="SetFlightAltitude"/>
      <dl_setting var="nav_heading" MIN="0" STEP="1" MAX="360" 
module="booz2_navigation" unit="1/2^12r" alt_unit="deg" 
alt_unit_coef="0.0139882"/>
+     <dl_setting var="nav_radius" MIN="-150" STEP="0.1" MAX="150" 
module="booz2_navigation" unit="m"/>
    </dl_settings>
 
     <dl_settings NAME="Analog Baro">