[paparazzi-commits] [4402] Update

[Anton K.]

Revision: 4402
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4402
Author:   antonk
Date:     2009-12-27 00:55:04 +0000 (Sun, 27 Dec 2009)
Log Message:
-----------
Update

Modified Paths:
--------------
    paparazzi3/trunk/conf/airframes/booz2_NoVa.xml

Modified: paparazzi3/trunk/conf/airframes/booz2_NoVa.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_NoVa.xml      2009-12-27 00:52:52 UTC 
(rev 4401)
+++ paparazzi3/trunk/conf/airframes/booz2_NoVa.xml      2009-12-27 00:55:04 UTC 
(rev 4402)
@@ -1,5 +1,12 @@
 <airframe name="BOOZ2_NoVa">
 
+<!-- PPZUAV_BOOZ2_NoVa
+     PPZUAV_BOOZ2_MAIN_001 main board
+     PPZUAV_BOOZ2_IMU_001 IMU
+     PPZUAV_BOOZ2_GPS_001 LEA-5H GPS
+     Datamodems configured for 57600 baud
+     Asctec speed controllers-->
+
  <servos min="0" neutral="0" max="0xff">
     <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
     <servo name="BACK"  no="1" min="0" neutral="0" max="255"/>
@@ -181,19 +188,19 @@
  <section name="BAT">
    <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-   <define name="BATTERY_SENS"   value="0.19" integer="16"/>
+   <define name="BATTERY_SENS"   value="0.18" integer="16"/>
 <!--   <define name="BATTERY_SENS"   value="1" integer="16"/>-->
  </section>
 
  <section name="AUTOPILOT">
    <define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
-   <define name="BOOZ2_MODE_AUTO1"  value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/>
-   <define name="BOOZ2_MODE_AUTO2"  value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
+   <define name="BOOZ2_MODE_AUTO1"  value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
+   <define name="BOOZ2_MODE_AUTO2"  value="BOOZ2_AP_MODE_HOVER_Z_HOLD"/>
  </section>
 
 
  <section name="MISC">
- <define name="BOOZ_ANALOG_BARO_THRESHOLD" value="800"/>
+
    <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
  </section>
 
@@ -207,7 +214,7 @@
 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
+#ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
 
 #ap.CFLAGS += -DMODEM_BAUD=B38400
 ap.CFLAGS += -DMODEM_BAUD=B57600
@@ -215,17 +222,16 @@
 include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.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
+#include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
 #set GPS lag for horizontal filter
 #ap.CFLAGS += -DGPS_LAG=0.8
-ap.CFLAGS += -DUSE_GPS_ACC4R -DGPS_USE_LATLONG
+ap.CFLAGS += -DGPS_USE_LATLONG
 
-ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
+#ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
 
 
   </makefile>