[paparazzi-commits] [4157] settings and airframe update for ball drop

[Felix Ruess]

Revision: 4157
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4157
Author:   flixr
Date:     2009-09-12 11:56:32 +0000 (Sat, 12 Sep 2009)
Log Message:
-----------
settings and airframe update for ball drop

Modified Paths:
--------------
    paparazzi3/trunk/conf/airframes/booz2_flixr.xml
    paparazzi3/trunk/conf/telemetry/telemetry_booz2_flixr.xml

Added Paths:
-----------
    paparazzi3/trunk/conf/settings/settings_booz_drop.xml

Modified: paparazzi3/trunk/conf/airframes/booz2_flixr.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_flixr.xml     2009-09-12 11:27:19 UTC 
(rev 4156)
+++ paparazzi3/trunk/conf/airframes/booz2_flixr.xml     2009-09-12 11:56:32 UTC 
(rev 4157)
@@ -144,9 +144,9 @@
                <define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)" />
                <define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)" />
                <define name="MAX_SUM_ERR" value="2000000"/>
-               <define name="HOVER_KP" value="-200" />
-               <define name="HOVER_KD" value="-100" />
-               <define name="HOVER_KI" value="-100"/>
+               <define name="HOVER_KP" value="-100"/>
+               <define name="HOVER_KD" value="-60"/>
+               <define name="HOVER_KI" value="-10"/>
                <!-- 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% -->
@@ -155,9 +155,9 @@
 
 
        <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
-               <define name="PGAIN" value="-100" />
-               <define name="DGAIN" value="-100" />
-               <define name="IGAIN" value="-0" />
+               <define name="PGAIN" value="-70"/>
+               <define name="DGAIN" value="-150"/>
+               <define name="IGAIN" value="-15"/>
        </section>
 
        <section name="BAT">
@@ -168,7 +168,8 @@
        </section>
 
        <section name="MISC">
-               <define name="BOOZ2_FACE_REINJ_1" value="1024" />
+               <define name="BOOZ2_FACE_REINJ_1" value="1024"/>
+        <define name="BOOZ_ANALOG_BARO_THRESHOLD" value="512"/>
        </section>
 
        <section name="SIMULATOR" prefix="NPS_">
@@ -194,11 +195,10 @@
                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
 
                include $(CFG_BOOZ)/booz2_simulator_nps.makefile
 
-               ap.CFLAGS += -DMODEM_BAUD=B57600
+               ap.CFLAGS += -DMODEM_BAUD=B9600
                include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
                include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
                include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1.makefile
@@ -208,9 +208,14 @@
 
                include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
                #set GPS lag for horizontal filter
-               ap.CFLAGS += -DGPS_LAG=0.8 -DUSE_GPS_ACC4R
+               ap.CFLAGS += -DUSE_GPS_ACC4R
+        #ap.CFLAGS += -DGPS_LAG=0.5
 
+        #ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
         ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=2
+
+        ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c  $(SRC_BOOZ)/booz_drop.c
+        ap.CFLAGS += -DUSE_DROP
   </makefile>
 
 </airframe>

Added: paparazzi3/trunk/conf/settings/settings_booz_drop.xml
===================================================================
--- paparazzi3/trunk/conf/settings/settings_booz_drop.xml                       
        (rev 0)
+++ paparazzi3/trunk/conf/settings/settings_booz_drop.xml       2009-09-12 
11:56:32 UTC (rev 4157)
@@ -0,0 +1,14 @@
+<!DOCTYPE settings SYSTEM "settings.dtd">
+
+<settings>
+  <dl_settings>
+
+    <dl_settings NAME="Drop">
+      <dl_setting var="booz_drop_ball" min="0" step="1" max="1" 
module="booz_drop" values="Closed|Open">
+        <strip_button name="OPEN"  value="1"/>
+        <strip_button name="CLOSE" value="0"/>
+      </dl_setting>
+    </dl_settings>
+
+    </dl_settings>
+</settings>

Modified: paparazzi3/trunk/conf/telemetry/telemetry_booz2_flixr.xml
===================================================================
--- paparazzi3/trunk/conf/telemetry/telemetry_booz2_flixr.xml   2009-09-12 
11:27:19 UTC (rev 4156)
+++ paparazzi3/trunk/conf/telemetry/telemetry_booz2_flixr.xml   2009-09-12 
11:56:32 UTC (rev 4157)
@@ -83,14 +83,14 @@
 
     <mode name="h_loop">
       <message name="ALIVE"                   period="0.9"/>
-      <message name="BOOZ2_HOVER_LOOP"        period="0.062"/>
+      <message name="BOOZ2_HOVER_LOOP"        period="0.1"/>
       <message name="BOOZ2_STAB_ATTITUDE"     period=".4"/>
       <message name="BOOZ2_HFF_DBG"           period=".2"/>
       <!--<message name="BOOZ2_STAB_ATTITUDE_REF" period=".4"/>-->
       <message name="BOOZ2_FP"                period="0.8"/>
       <message name="BOOZ_STATUS"             period="1.2"/>
       <message name="BOOZ2_NAV_STATUS"        period="1.6"/>
-         <message name="BOOZ2_HFF_GPS"           period=".05"/>
+         <message name="BOOZ2_HFF_GPS"           period=".1"/>
       <message name="BOOZ2_INS_REF"           period="5.1"/>
     </mode>