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[paparazzi-commits] [5989] change quad file name
|
From: |
Gautier Hattenberger |
|
Subject: |
[paparazzi-commits] [5989] change quad file name |
|
Date: |
Tue, 28 Sep 2010 09:43:35 +0000 |
Revision: 5989
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5989
Author: gautier
Date: 2010-09-28 09:43:35 +0000 (Tue, 28 Sep 2010)
Log Message:
-----------
change quad file name
Added Paths:
-----------
paparazzi3/trunk/conf/airframes/ENAC/quadrotor/blender.xml
Removed Paths:
-------------
paparazzi3/trunk/conf/airframes/ENAC/quadrotor/mini.xml
Copied: paparazzi3/trunk/conf/airframes/ENAC/quadrotor/blender.xml (from rev
5987, paparazzi3/trunk/conf/airframes/ENAC/quadrotor/mini.xml)
===================================================================
--- paparazzi3/trunk/conf/airframes/ENAC/quadrotor/blender.xml
(rev 0)
+++ paparazzi3/trunk/conf/airframes/ENAC/quadrotor/blender.xml 2010-09-28
09:43:35 UTC (rev 5989)
@@ -0,0 +1,249 @@
+<airframe name="Blender">
+
+ <modules main_freq="512">
+ <load name="booz_drop.xml"/>
+ <load name="booz_cam.xml"/>
+ <!--load name="sonar_maxbotix_booz.xml"/-->
+ </modules>
+
+ <firmware name="rotorcraft">
+ <target name="ap" board="booz_1.0">
+ <define name="FAILSAFE_GROUND_DETECT"/>
+ <define name="USE_GPS_ACC4R"/>
+ </target>
+ <target name="sim" board="pc">
+ <subsystem name="fdm" type="nps"/>
+ </target>
+ <subsystem name="radio_control" type="ppm"/>
+ <subsystem name="actuators" type="asctec"/>
+ <subsystem name="imu" type="b2_v1.1"/>
+ <subsystem name="gps" type="ublox"/>
+ <subsystem name="ahrs" type="cmpl"/>
+ <subsystem name="ins" type="hff"/>
+ </firmware>
+
+ <firmware name="booz_test_progs">
+ <target name="test_telemetry" board="booz_1.0"/>
+ <target name="test_baro" board="booz_1.0"/>
+ <target name="test_rc_spektrum" board="booz_1.0"/>
+ <target name="test_rc_ppm" board="booz_1.0"/>
+ </firmware>
+
+ <servos min="0" neutral="0" max="0xff">
+ <servo name="PITCH" no="0" min="0" neutral="0" max="255"/>
+ <servo name="ROLL" no="1" min="0" neutral="0" max="255"/>
+ <servo name="YAW" no="2" min="0" neutral="0" max="255"/>
+ <servo name="THRUST" no="3" min="0" neutral="0" max="255"/>
+ </servos>
+
+ <commands>
+ <axis name="PITCH" failsafe_value="0"/>
+ <axis name="ROLL" failsafe_value="0"/>
+ <axis name="YAW" failsafe_value="0"/>
+ <axis name="THRUST" failsafe_value="0"/>
+ </commands>
+
+ <section name="IMU" prefix="IMU_">
+
+ <define name="GYRO_P_CHAN" value="1"/>
+ <define name="GYRO_Q_CHAN" value="0"/>
+ <define name="GYRO_R_CHAN" value="2"/>
+
+ <define name="GYRO_P_NEUTRAL" value="33100"/>
+ <define name="GYRO_Q_NEUTRAL" value="32440"/>
+ <define name="GYRO_R_NEUTRAL" value="33033"/>
+
+ <define name="GYRO_P_SENS" value="1.00" integer="16"/>
+ <define name="GYRO_Q_SENS" value="1.00" integer="16"/>
+ <define name="GYRO_R_SENS" value="1.00" 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_X_NEUTRAL" value="32932"/>
+ <define name="ACCEL_Y_NEUTRAL" value="32251"/>
+ <define name="ACCEL_Z_NEUTRAL" value="32463"/>
+
+ <define name="ACCEL_X_SENS" value="2.59502439625" integer="16"/>
+ <define name="ACCEL_Y_SENS" value="2.57636806334" integer="16"/>
+ <define name="ACCEL_Z_SENS" value="2.59680479039" integer="16"/>
+
+ <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_NEUTRAL" value="-75"/>
+ <define name="MAG_Y_NEUTRAL" value="17"/>
+ <define name="MAG_Z_NEUTRAL" value="7"/>
+
+ <define name="MAG_X_SENS" value="5.50726991669" integer="16"/>
+ <define name="MAG_Y_SENS" value="5.43740121157" integer="16"/>
+ <define name="MAG_Z_SENS" value="2.60492836649" integer="16"/>
+
+ <define name="BODY_TO_IMU_PHI" value="RadOfDeg(-1.5)"/>
+ <define name="BODY_TO_IMU_THETA" value="RadOfDeg(-1.5)"/>
+ <define name="BODY_TO_IMU_PSI" value="RadOfDeg(-45)"/> <!-- -13 -->
+
+ </section>
+
+ <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+
+ <define name="SP_MAX_P" value="10000"/>
+ <define name="SP_MAX_Q" value="10000"/>
+ <define name="SP_MAX_R" value="10000"/>
+
+ <define name="GAIN_P" value="-400"/>
+ <define name="GAIN_Q" value="-400"/>
+ <define name="GAIN_R" value="-350"/>
+
+ </section>
+
+ <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+
+ <!-- setpoints -->
+ <define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
+ <define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
+ <define name="SP_MAX_R" value="RadOfDeg(90.)"/>
+ <define name="DEADBAND_R" value="250"/>
+
+ <!-- reference -->
+ <define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
+ <define name="REF_ZETA_P" value="0.85"/>
+ <define name="REF_MAX_P" value="RadOfDeg(300.)"/>
+ <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
+
+ <define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
+ <define name="REF_ZETA_Q" value="0.85"/>
+ <define name="REF_MAX_Q" value="RadOfDeg(300.)"/>
+ <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
+
+ <define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
+ <define name="REF_ZETA_R" value="0.85"/>
+ <define name="REF_MAX_R" value="RadOfDeg(90.)"/>
+ <define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
+
+ <!-- feedback -->
+ <define name="PHI_PGAIN" value="-1500"/>
+ <define name="PHI_DGAIN" value="-350"/>
+ <define name="PHI_IGAIN" value="-50"/>
+
+ <define name="THETA_PGAIN" value="-1500"/>
+ <define name="THETA_DGAIN" value="-350"/>
+ <define name="THETA_IGAIN" value="-50"/>
+
+ <define name="PSI_PGAIN" value="-1000"/>
+ <define name="PSI_DGAIN" value="-350"/>
+ <define name="PSI_IGAIN" value="-10"/>
+
+ <!-- feedforward -->
+ <define name="PHI_DDGAIN" value=" 350"/>
+ <define name="THETA_DDGAIN" value=" 350"/>
+ <define name="PSI_DDGAIN" value=" 300"/>
+
+ </section>
+
+ <section name="SUPERVISION" prefix="SUPERVISION_">
+ <define name="TRIM_A" value="0"/>
+ <define name="TRIM_E" value="0"/>
+ <define name="TRIM_R" value="0"/>
+ <define name="HACK_45" value="1"/>
+ </section>
+
+ <section name="INS" prefix="BOOZ_INS_">
+ <define name="BARO_SENS" value="16.5" integer="16"/>
+ </section>
+
+
+ <section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
+
+ <define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
+ <define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
+ <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="REF_MIN_ZDD" value="-1.2*9.81"/>
+ <define name="REF_MAX_ZDD" value=" 0.8*9.81"/>
+ <define name="REF_MIN_ZD" value="-1.5"/>
+ <define name="REF_MAX_ZD" value=" 1.5"/>
+ <define name="HOVER_KP" value="-500"/>
+ <define name="HOVER_KD" value="-250"/>
+ <define name="HOVER_KI" value="0"/>
+ <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
+ <define name="RC_CLIMB_COEF" value ="163"/>
+ <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
+ <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
+ </section>
+
+ <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
+ <define name="PGAIN" value="-140"/>
+ <define name="DGAIN" value="-90"/>
+ <define name="IGAIN" value="-30"/>
+ <define name="NGAIN" value="-0"/>
+ <!-- feedforward -->
+ <define name="AGAIN" value="100"/>
+ </section>
+
+ <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="0.25" integer="16"/>
+ </section>
+
+ <section name="AUTOPILOT">
+ <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
+ <define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
+ <define name="MODE_AUTO2" value="AP_MODE_NAV"/>
+ </section>
+
+ <section name="FMS">
+ <define name="BOOZ_FMS_TIMEOUT" value="0"/>
+ </section>
+
+ <section name="CAM" prefix="BOOZ_CAM_">
+ <define name="TILT_NEUTRAL" value="1500"/>
+ <define name="TILT_MIN" value="1060"/>
+ <define name="TILT_MAX" value="2250"/>
+ <define name="TILT_ANGLE_MIN" value="RadOfDeg(-90.)" unit="rad"/>
+ <define name="TILT_ANGLE_MAX" value="RadOfDeg( 0.)" unit="rad"/>
+ <define name="PAN_NEUTRAL" value="0"/>
+ <define name="PAN_MIN" value="0"/>
+ <define name="PAN_MAX" value="25736"/> <!-- 360 deg (2^12) -->
+ <define name="DEFAULT_MODE" value="BOOZ_CAM_MODE_MANUAL"/>
+ <!--define name="SetPwm(_v)" value="Booz2SetPwm1Value(_v)"/-->
+ </section>
+
+
+ <section name="MISC">
+ <define name="BOOZ_ANALOG_BARO_THRESHOLD" value="800"/>
+ <define name="BOOZ2_FACE_REINJ_1" value="1024"/>
+ <define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
+ <define name="BoozDropPwm(_v)" value="Booz2SetPwm1Value(_v)"/>
+ <define name="IMU_MAG_OFFSET" value="-9."/>
+ </section>
+
+ <section name="GCS">
+ <define name="ALT_SHIFT_PLUS_PLUS" value="5"/>
+ <define name="ALT_SHIFT_PLUS" value="1"/>
+ <define name="ALT_SHIFT_MINUS" value="-1"/>
+ </section>
+
+ <makefile location="after">
+
+ap.CFLAGS += -DB2_GUIDANCE_H_USE_REF
+
+ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
-DUSE_PWM1
+ap.CFLAGS += -DBOOZ_ACTUATORS_MAX_THRUST=160 -DBOOZ_THRUST_LOWPASS=17
+
+ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c
+
+sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\"
+sim.CFLAGS += -DNPS_NO_SUPERVISION
+
+sim.CFLAGS += -DB2_GUIDANCE_H_USE_REF
+sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
+sim.srcs += $(SRC_BOOZ_SIM)/booz2_pwm_hw.c
+
+ </makefile>
+
+</airframe>
Deleted: paparazzi3/trunk/conf/airframes/ENAC/quadrotor/mini.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/ENAC/quadrotor/mini.xml 2010-09-28
09:42:06 UTC (rev 5988)
+++ paparazzi3/trunk/conf/airframes/ENAC/quadrotor/mini.xml 2010-09-28
09:43:35 UTC (rev 5989)
@@ -1,249 +0,0 @@
-<airframe name="Blender">
-
- <modules main_freq="512">
- <load name="booz_drop.xml"/>
- <load name="booz_cam.xml"/>
- <!--load name="sonar_maxbotix_booz.xml"/-->
- </modules>
-
- <firmware name="rotorcraft">
- <target name="ap" board="booz_1.0">
- <define name="FAILSAFE_GROUND_DETECT"/>
- <define name="USE_GPS_ACC4R"/>
- </target>
- <target name="sim" board="pc">
- <subsystem name="fdm" type="nps"/>
- </target>
- <subsystem name="radio_control" type="ppm"/>
- <subsystem name="actuators" type="asctec"/>
- <subsystem name="imu" type="b2_v1.1"/>
- <subsystem name="gps" type="ublox"/>
- <subsystem name="ahrs" type="cmpl"/>
- <subsystem name="ins" type="hff"/>
- </firmware>
-
- <firmware name="booz_test_progs">
- <target name="test_telemetry" board="booz_1.0"/>
- <target name="test_baro" board="booz_1.0"/>
- <target name="test_rc_spektrum" board="booz_1.0"/>
- <target name="test_rc_ppm" board="booz_1.0"/>
- </firmware>
-
- <servos min="0" neutral="0" max="0xff">
- <servo name="PITCH" no="0" min="0" neutral="0" max="255"/>
- <servo name="ROLL" no="1" min="0" neutral="0" max="255"/>
- <servo name="YAW" no="2" min="0" neutral="0" max="255"/>
- <servo name="THRUST" no="3" min="0" neutral="0" max="255"/>
- </servos>
-
- <commands>
- <axis name="PITCH" failsafe_value="0"/>
- <axis name="ROLL" failsafe_value="0"/>
- <axis name="YAW" failsafe_value="0"/>
- <axis name="THRUST" failsafe_value="0"/>
- </commands>
-
- <section name="IMU" prefix="IMU_">
-
- <define name="GYRO_P_CHAN" value="1"/>
- <define name="GYRO_Q_CHAN" value="0"/>
- <define name="GYRO_R_CHAN" value="2"/>
-
- <define name="GYRO_P_NEUTRAL" value="33100"/>
- <define name="GYRO_Q_NEUTRAL" value="32440"/>
- <define name="GYRO_R_NEUTRAL" value="33033"/>
-
- <define name="GYRO_P_SENS" value="1.00" integer="16"/>
- <define name="GYRO_Q_SENS" value="1.00" integer="16"/>
- <define name="GYRO_R_SENS" value="1.00" 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_X_NEUTRAL" value="32932"/>
- <define name="ACCEL_Y_NEUTRAL" value="32251"/>
- <define name="ACCEL_Z_NEUTRAL" value="32463"/>
-
- <define name="ACCEL_X_SENS" value="2.59502439625" integer="16"/>
- <define name="ACCEL_Y_SENS" value="2.57636806334" integer="16"/>
- <define name="ACCEL_Z_SENS" value="2.59680479039" integer="16"/>
-
- <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_NEUTRAL" value="-75"/>
- <define name="MAG_Y_NEUTRAL" value="17"/>
- <define name="MAG_Z_NEUTRAL" value="7"/>
-
- <define name="MAG_X_SENS" value="5.50726991669" integer="16"/>
- <define name="MAG_Y_SENS" value="5.43740121157" integer="16"/>
- <define name="MAG_Z_SENS" value="2.60492836649" integer="16"/>
-
- <define name="BODY_TO_IMU_PHI" value="RadOfDeg(-1.5)"/>
- <define name="BODY_TO_IMU_THETA" value="RadOfDeg(-1.5)"/>
- <define name="BODY_TO_IMU_PSI" value="RadOfDeg(-45)"/> <!-- -13 -->
-
- </section>
-
- <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
-
- <define name="SP_MAX_P" value="10000"/>
- <define name="SP_MAX_Q" value="10000"/>
- <define name="SP_MAX_R" value="10000"/>
-
- <define name="GAIN_P" value="-400"/>
- <define name="GAIN_Q" value="-400"/>
- <define name="GAIN_R" value="-350"/>
-
- </section>
-
- <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
-
- <!-- setpoints -->
- <define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
- <define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
- <define name="SP_MAX_R" value="RadOfDeg(90.)"/>
- <define name="DEADBAND_R" value="250"/>
-
- <!-- reference -->
- <define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
- <define name="REF_ZETA_P" value="0.85"/>
- <define name="REF_MAX_P" value="RadOfDeg(300.)"/>
- <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
-
- <define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
- <define name="REF_ZETA_Q" value="0.85"/>
- <define name="REF_MAX_Q" value="RadOfDeg(300.)"/>
- <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
-
- <define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
- <define name="REF_ZETA_R" value="0.85"/>
- <define name="REF_MAX_R" value="RadOfDeg(90.)"/>
- <define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
-
- <!-- feedback -->
- <define name="PHI_PGAIN" value="-1500"/>
- <define name="PHI_DGAIN" value="-350"/>
- <define name="PHI_IGAIN" value="-50"/>
-
- <define name="THETA_PGAIN" value="-1500"/>
- <define name="THETA_DGAIN" value="-350"/>
- <define name="THETA_IGAIN" value="-50"/>
-
- <define name="PSI_PGAIN" value="-1000"/>
- <define name="PSI_DGAIN" value="-350"/>
- <define name="PSI_IGAIN" value="-10"/>
-
- <!-- feedforward -->
- <define name="PHI_DDGAIN" value=" 350"/>
- <define name="THETA_DDGAIN" value=" 350"/>
- <define name="PSI_DDGAIN" value=" 300"/>
-
- </section>
-
- <section name="SUPERVISION" prefix="SUPERVISION_">
- <define name="TRIM_A" value="0"/>
- <define name="TRIM_E" value="0"/>
- <define name="TRIM_R" value="0"/>
- <define name="HACK_45" value="1"/>
- </section>
-
- <section name="INS" prefix="BOOZ_INS_">
- <define name="BARO_SENS" value="16.5" integer="16"/>
- </section>
-
-
- <section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
-
- <define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
- <define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
- <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="REF_MIN_ZDD" value="-1.2*9.81"/>
- <define name="REF_MAX_ZDD" value=" 0.8*9.81"/>
- <define name="REF_MIN_ZD" value="-1.5"/>
- <define name="REF_MAX_ZD" value=" 1.5"/>
- <define name="HOVER_KP" value="-500"/>
- <define name="HOVER_KD" value="-250"/>
- <define name="HOVER_KI" value="0"/>
- <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
- <define name="RC_CLIMB_COEF" value ="163"/>
- <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
- <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
- </section>
-
- <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
- <define name="PGAIN" value="-140"/>
- <define name="DGAIN" value="-90"/>
- <define name="IGAIN" value="-30"/>
- <define name="NGAIN" value="-0"/>
- <!-- feedforward -->
- <define name="AGAIN" value="100"/>
- </section>
-
- <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="0.25" integer="16"/>
- </section>
-
- <section name="AUTOPILOT">
- <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
- <define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
- <define name="MODE_AUTO2" value="AP_MODE_NAV"/>
- </section>
-
- <section name="FMS">
- <define name="BOOZ_FMS_TIMEOUT" value="0"/>
- </section>
-
- <section name="CAM" prefix="BOOZ_CAM_">
- <define name="TILT_NEUTRAL" value="1500"/>
- <define name="TILT_MIN" value="1060"/>
- <define name="TILT_MAX" value="2250"/>
- <define name="TILT_ANGLE_MIN" value="RadOfDeg(-90.)" unit="rad"/>
- <define name="TILT_ANGLE_MAX" value="RadOfDeg( 0.)" unit="rad"/>
- <define name="PAN_NEUTRAL" value="0"/>
- <define name="PAN_MIN" value="0"/>
- <define name="PAN_MAX" value="25736"/> <!-- 360 deg (2^12) -->
- <define name="DEFAULT_MODE" value="BOOZ_CAM_MODE_MANUAL"/>
- <!--define name="SetPwm(_v)" value="Booz2SetPwm1Value(_v)"/-->
- </section>
-
-
- <section name="MISC">
- <define name="BOOZ_ANALOG_BARO_THRESHOLD" value="800"/>
- <define name="BOOZ2_FACE_REINJ_1" value="1024"/>
- <define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
- <define name="BoozDropPwm(_v)" value="Booz2SetPwm1Value(_v)"/>
- <define name="IMU_MAG_OFFSET" value="-9."/>
- </section>
-
- <section name="GCS">
- <define name="ALT_SHIFT_PLUS_PLUS" value="5"/>
- <define name="ALT_SHIFT_PLUS" value="1"/>
- <define name="ALT_SHIFT_MINUS" value="-1"/>
- </section>
-
- <makefile location="after">
-
-ap.CFLAGS += -DB2_GUIDANCE_H_USE_REF
-
-ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
-DUSE_PWM1
-ap.CFLAGS += -DBOOZ_ACTUATORS_MAX_THRUST=160 -DBOOZ_THRUST_LOWPASS=17
-
-ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c
-
-sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\"
-sim.CFLAGS += -DNPS_NO_SUPERVISION
-
-sim.CFLAGS += -DB2_GUIDANCE_H_USE_REF
-sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
-sim.srcs += $(SRC_BOOZ_SIM)/booz2_pwm_hw.c
-
- </makefile>
-
-</airframe>
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