Re: [Paparazzi-devel] CHDK and digital_cam.xml

[gatib]

I am using TWOG. I think, it hasn't got the feature for connecting BEC.

Balazs



> Which board are you using? The yapa board switches the Servo 5v and not
> the
> auto pilot 5v using the aux switch. Same for the Rc.
> On May 29, 2012 8:28 AM, "Balazs GATI" <address@hidden> wrote:
>
>> I tried already without any success. :(
>>
>> If nobody has airframe file to a working AUX line, I have to give up,
>> because I am unable to find out the right way of AUX configuration based
>> only on the source code. Perhaps later someone will post valuable
>> information.
>>
>> Thx for support!
>>  Balazs
>>
>>
>>
>>
>> 2012.05.29. 8:13 keltezéssel, Cédric Marzer (privé) írta:
>>
>>> You might want to use the "light" module to see if you get something...
>>>
>>> -----Message d'origine-----
>>> De :
>>> address@hidden<address@hidden>[mailto:
>>> paparazzi-devel-**bounces+cedric.marzer<paparazzi-devel-bounces%2Bcedric.marzer>
>>> address@hidden <address@hidden>] De la part de
>>> address@hidden
>>> Envoyé : lundi 28 mai 2012 21:57
>>> À : address@hidden
>>> Objet : Re: [Paparazzi-devel] CHDK and digital_cam.xml
>>>
>>> Sorry, I forgot to report: the TPS input is low all the time, too.
>>>
>>> Balazs
>>>
>>>
>>>> measure voltage on TPS  PIN5 (input)  when in SHOT and normal.
>>>>
>>>>
>>>>
>>>>  Date: Sat, 26 May 2012 22:40:53 +0200
>>>>>
>>>>
>>>> AGRESSiVA HiGH PERFORMANCE
>>>>                   ///
>>>>                  (o o)
>>>> ____ooO__(_)__Ooo____
>>>>                         By Dudu
>>>>
>>>>  From: address@hidden
>>>>> To: address@hidden
>>>>> Subject: Re: [Paparazzi-devel] CHDK and digital_cam.xml
>>>>>
>>>>> The result:
>>>>> Compiling OK
>>>>>  settings file: dc.xml
>>>>>  orange dots for autoshoots on GCS: OK AUX voltage: low (constant
>>>>> 0.02V)
>>>>>
>>>>> :(
>>>>>
>>>>> Should I somehow enable this output? USE_LED or similar?
>>>>>
>>>>> Balazs
>>>>>
>>>>>
>>>>>
>>>>>  You might try that and tell me what you get :
>>>>>>
>>>>>> <modules>
>>>>>>  <load name="digital_cam.xml">
>>>>>>  <define name="DC_SHUTTER_LED" value="6"/>   <define
>>>>>> name="LED_6_BANK" value="1"/>   <define name="LED_6_PIN"
>>>>>> value="18"/>
>>>>>>     <define name="PUSH" value="LED_ON" />
>>>>>>     <define name="RELEASE" value="LED_OFF" />  </load>  </modules>
>>>>>>
>>>>>> -----Message d'origine-----
>>>>>> De :
>>>>>> address@hidden<address@hidden>
>>>>>> [mailto:paparazzi-devel-**bounces+cedric.marzer<paparazzi-devel-bounces%2Bcedric.marzer>
>>>>>> address@hidden <address@hidden>]
>>>>>> De
>>>>>>
>>>>> la
>>>>>
>>>>>> part de address@hidden
>>>>>> Envoyé : vendredi 25 mai 2012 22:13 À : address@hidden
>>>>>> Objet : Re: [Paparazzi-devel] CHDK and digital_cam.xml
>>>>>>
>>>>>> Hi,
>>>>>>
>>>>>> I still didn't find the solution. It would mean big help for me, if
>>>>>> someone could send me an airframe file with working AUX output. Or
>>>>>> at least the relevant lines in it.
>>>>>>
>>>>>> Thx
>>>>>>  Balazs
>>>>>>
>>>>>>  Yes, I tried, but they seems already be defined. The compiler
>>>>>>>
>>>>>> resulted
>>>>>
>>>>>> the warnings. I found similar lines in the tiny_2.11.h
>>>>>>>
>>>>>>> Balazs
>>>>>>>
>>>>>>> 2012.05.25. 8:05 keltezéssel, Cédric Marzer (privé) írta:
>>>>>>>
>>>>>>>> Did you define the led pin and bank as in my airframe in a
>>>>>>>> previous message ?
>>>>>>>>
>>>>>>>> *De :address@hidden
>>>>>>>> [mailto:paparazzi-devel-**bounces+spam1<paparazzi-devel-bounces%2Bspam1>
>>>>>>>> address@hidden <address@hidden>] *De
>>>>>>>> la part
>>>>>>>> de* Eduardo lavratti
>>>>>>>> *Envoyé :* vendredi 25 mai 2012 02:26 *À :* Paparazzi developer
>>>>>>>>
>>>>>>> forum
>>>>>
>>>>>> *Objet :* Re: [Paparazzi-devel] CHDK and digital_cam.xml
>>>>>>>>
>>>>>>>> Balazs, you want AUX 5v because you like to use chdk remote shot ?
>>>>>>>> you can use a simple transistor + 2 resistor to convert an 3.3v
>>>>>>>> to
>>>>>>>>
>>>>>>> 5v.
>>>>>
>>>>>>
>>>>>>>>   Date: Fri, 25 May 2012 00:14:17 +0200
>>>>>>>>>  From:
>>>>>>>>> address@hidden<mailto:address@hidden<address@hidden>
>>>>>>>>> >
>>>>>>>>>  To: address@hidden
>>>>>>>>> <mailto:address@hidden
>>>>>>>>> <address@hidden>>
>>>>>>>>>  Subject: Re: [Paparazzi-devel] CHDK and digital_cam.xml
>>>>>>>>>
>>>>>>>>>  Thx for the idea! Unfortunately it doesnt help to switch the
>>>>>>>>> power on the  AUX line. Meanwhile I checked that the CAM_SW
>>>>>>>>> output is working correctly,  it goes high (3.3V) periodicaly as
>>>>>>>>> it should in autoshoot mode.
>>>>>>>>>
>>>>>>>>>  But the AUX line is still down. I put only<define
>>>>>>>>> name="POWER_SWITCH_LED"/>   in the MISC section of the airframe
>>>>>>>>> file but I still can't switch the  power on with the power icon
>>>>>>>>> nor in the settings tab provided by the  switch.xml settings
>>>>>>>>> file.
>>>>>>>>>
>>>>>>>> Although
>>>>>
>>>>>> I can see in the GCS, that the  power_switch variable changes
>>>>>>>>> according the commands, but the voltage at  the AUX line is
>>>>>>>>> still 0.3V. I even cheked the servo power voltage: the 5V  rail
>>>>>>>>> seems to be intact.
>>>>>>>>>
>>>>>>>>>  Where should I look for errors, info or ideas?
>>>>>>>>>
>>>>>>>>>  Some explanation: my Canon A800 can not be controlled with 3.3V
>>>>>>>>> of the  CAM_SW, therefore I would like to use the 5V of the AUX
>>>>>>>>> line
>>>>>>>>>
>>>>>>>> to
>>>>>
>>>>>> shoot.
>>>>>>>>> :(
>>>>>>>>>
>>>>>>>>>  Balazs
>>>>>>>>>
>>>>>>>>>
>>>>>>>>>  >  I think you need to define the pin and the bank of the led
>>>>>>>>>
>>>>>>>> number
>>>>>
>>>>>> you>  define as DC_SHUTTER_LED.
>>>>>>>>>  >  I join my airframe file but it is not 100% mature ! Use at
>>>>>>>>> your own>  risk...
>>>>>>>>>  >
>>>>>>>>>  >
>>>>>>>>>  >
>>>>>>>>>  >  On Wed, 2012-05-23 at 14:50 +0200, address@hidden
>>>>>>>>>
>>>>>>>> <mailto:address@hidden>**wrote:
>>>>>>>>
>>>>>>>>>  >>  Thank you Eduardo!
>>>>>>>>>  >>
>>>>>>>>>  >>  My airframe file:
>>>>>>>>>  >>
>>>>>>>>>  >>
>>>>>>>>>  >>
>>>>>>>>>  >>  <!DOCTYPE airframe SYSTEM "airframe.dtd">   >>   >>  <!--
>>>>>>>>> EasyGlider>>  TWOGv1>>  Xsens MtiG>>  AC4868>>  ETS Airspeed
>>>>>>>>>
>>>>>>>>
>>>>>>>  -->   >>   >>  <airframe name="Trainer60 - TWOG v1">   >>   >>
>>>>>>>>>>>
>>>>>>>>>> <firmware name="fixedwing">   >>  <target name="ap"
>>>>>>>>>
>>>>>>>> board="twog_1.0"/>
>>>>>
>>>>>> <define name="AGR_CLIMB" />   >>  <define name="USE_I2C0"/>   >>
>>>>>>>>>>>
>>>>>>>>>> <define name="USE_AIRSPEED"/>   >>  <define
>>>>>>>>>> name="USE_BARO_ETS"/>
>>>>>>>>>
>>>>>>>>>> <define name="USE_ADC"/>   >>  <define name="USE_ADC_3"/>  <!--
>>>>>>>>>>>
>>>>>>>>>> accu
>>>>>>>>> voltage-->   >>  <define name="USE_ADC_4"/>  <!-- motor
>>>>>>>>> current-->
>>>>>>>>> voltage-->  >>
>>>>>>>>> <define name="LOITER_TRIM" />   >>  <define name="ALT_KALMAN" />
>>>>>>>>>
>>>>>>>>>> <define name="ADC_CHANNEL_VSUPPLY" value="ADC_3"/>   >>
>>>>>>>>>>>
>>>>>>>>>> <subsystem name="radio_control" type="ppm"/>   >>  <subsystem
>>>>>>>>> name="telemetry"
>>>>>>>>> type="transparent">   >>  <configure name="MODEM_BAUD"
>>>>>>>>> value="B57600"/>   >>  </subsystem>   >>  <subsystem
>>>>>>>>> name="control"/>
>>>>>>>>>
>>>>>>>>>> <subsystem name="gps" type="xsens"/>   >>  <subsystem
>>>>>>>>>>>
>>>>>>>>>> name="navigation"/>   >>  <subsystem name="i2c"/>   >>   >>
>>>>>>>>> </firmware>
>>>>>>>>>
>>>>>>>>>>  >>   >>  <!-- commands section -->   >>  <servos>   >>  <servo
>>>>>>>>>>>
>>>>>>>>>> name="AILERON" no="4" min="2000" neutral="1500"
>>>>>>>>>  >>  max="1000"/>  <!-- TWOG servo channel layout-->   >>  <servo
>>>>>>>>> name="ELEVATOR" no="3" min="2000" neutral="1400"
>>>>>>>>>  >>  max="1000"/>
>>>>>>>>>  >>  <servo name="THROTTLE" no="7" min="1000" neutral="1000"
>>>>>>>>>  >>  max="2000"/>
>>>>>>>>>  >>  <servo name="RUDDER" no="6" min="1000" neutral="1500"
>>>>>>>>>  >>  max="2000"/>
>>>>>>>>>  >>  </servos>
>>>>>>>>>  >>
>>>>>>>>>  >>  <!-- COMMANDS: generated by AP/RC -->   >>  <commands>   >>
>>>>>>>>> <axis name="THROTTLE" failsafe_value="0"/>   >>  <axis
>>>>>>>>> name="ROLL"
>>>>>>>>> failsafe_value="0"/>   >>  <axis name="PITCH"
>>>>>>>>> failsafe_value="0"/>
>>>>>>>>>
>>>>>>>>
>>>>>>>  <axis name="YAW" failsafe_value="0"/>   >>  <axis name="FLAPS"
>>>>>>>>> failsafe_value="0"/>   >>  </commands>   >>   >>  <!-- MANUAL
>>>>>>>>> MODE:
>>>>>>>>>
>>>>>>>> links
>>>>>
>>>>>> the channels of the RC transmitter (defined>>  in the Radio
>>>>>>>>>
>>>>>>>> Control
>>>>>
>>>>>> file)>>  to the commands defined above -->   >>  <rc_commands>
>>>>>>>>>
>>>>>>>>>> <set command="THROTTLE" value="@THROTTLE"/>   >>  <set
>>>>>>>>>>> command="ROLL"
>>>>>>>>>>>
>>>>>>>>>> value="@ROLL"/>   >>  <set command="PITCH" value="@PITCH"/>   >>
>>>>>>>>> <set command="YAW" value="@YAW"/>   >>  <set command="FLAPS"
>>>>>>>>> value="@FLAPS"/>   >>  </rc_commands>   >>   >>  <section
>>>>>>>>> name="MIXER">
>>>>>>>>>
>>>>>>>>>> <define name="COMBI_SWITCH" value="0.4"/>  <!--Orig: 1.0 -->
>>>>>>>>>>>
>>>>>>>>>>>>
>>>>>>>>>>>>>  </section>   >>   >>  <command_laws>   >>  <set
>>>>>>>>> servo="THROTTLE"
>>>>>>>>> value="@THROTTLE"/>   >>  <set servo="ELEVATOR" value="@PITCH"/>
>>>>>>>>>
>>>>>>>>>> <set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>   >>
>>>>>>>>>>>
>>>>>>>>>> <set servo="AILERON" value="@ROLL"/>   >>  </command_laws>   >>
>>>>>>>>> >>
>>>>>>>>>
>>>>>>>>>>
>>>>>>>>>>>  <!--
>>>>>
>>>>>> AUTO1 MODE: max.pitch max.roll-->   >>  <section name="AUTO1"
>>>>>>>>> prefix="AUTO1_">   >>  <define name="MAX_ROLL"
>>>>>>>>> value="RadOfDeg(50)"/>
>>>>>>>>>
>>>>>>>>>> <define name="MAX_PITCH" value="RadOfDeg(40)"/>   >>
>>>>>>>>>>> </section>   >>   >>  <!-- Battery -->   >>  <section
>>>>>>>>>>> name="BAT">
>>>>>>>>>>>
>>>>>>>>>>>> <define
>>>>>>>>>>>>>
>>>>>>>>>>>> name="ADC_CHANNEL_CURRENT" value="ADC_4"/>   >>  <define
>>>>>>>>> name="MilliAmpereOfAdc(adc)" value="(100*adc)"/>   >>  <define
>>>>>>>>> name="VOLTAGE_ADC_A" value="0.05"/>   >>  <define
>>>>>>>>>
>>>>>>>> name="VOLTAGE_ADC_B"
>>>>>
>>>>>> value="1"/>   >>  <define name="VoltageOfAdc(adc)" value
>>>>>>>>> ="(VOLTAGE_ADC_A * adc +>>  VOLTAGE_ADC_B)"/>   >>  <define
>>>>>>>>> name="CATASTROPHIC_BAT_LEVEL" value="19.0" unit="V"/>   >>
>>>>>>>>> <define name="CRITIC_BAT_LEVEL" value="20.0" unit="V"/>   >>
>>>>>>>>> <define name="LOW_BAT_LEVEL" value="21.0" unit="V"/>   >>
>>>>>>>>> <define
>>>>>>>>> name="MAX_BAT_LEVEL" value="25.0" unit="V"/>   >>  </section>
>>>>>>>>> >>
>>>>>>>>>
>>>>>>>>>>
>>>>>>>>>>>  <!-- Horizontal control -->   >>  <section name="HORIZONTAL
>>>>>>>>> CONTROL"
>>>>>>>>> prefix="H_CTL_">   >>  <define name="COURSE_PGAIN" value="-0.7"/>
>>>>>>>>>
>>>>>>>> <!--
>>>>>
>>>>>> course error->  roll>>  command orig: -1.0-->   >>  <define
>>>>>>>>> name="ROLL_MAX_SETPOINT" value="0.7" unit="radians"/>  <!-->>
>>>>>>>>> max.
>>>>>>>>> roll command -->   >>  <define name="ROLL_SLEW" value="0.1"/>
>>>>>>>>> <!--
>>>>>>>>>
>>>>>>>>
>>>>>>>  roll rate-->   >>  <define name="ROLL_ATTITUDE_GAIN"
>>>>>>>>> value="-9000"/>
>>>>>>>>> <!-->>  roll command from roll error-->   >>  <define
>>>>>>>>> name="ROLL_RATE_GAIN" value="-1500"/>  <!-->>  if gyro is
>>>>>>>>> installed-->   >>  <define name="PITCH_DGAIN" value="1.5"/>   >>
>>>>>>>>> <define name="PITCH_PGAIN" value="-7000"/>   >>  <define
>>>>>>>>> name="ELEVATOR_OF_ROLL" value="1700"/>  <!-->>  orig 1300 -->
>>>>>>>>>
>>>>>>>>>> <define name="PITCH_MAX_SETPOINT" value="0.5"
>>>>>>>>>>>
>>>>>>>>>> unit="radians"/>   >>  <define name="PITCH_MIN_SETPOINT"
>>>>>>>>> value="-0.25" unit="radians"/>
>>>>>>>>>
>>>>>>>>
>>>>>>>  </section>   >>   >>  <!-- Vertical control -->   >>  <section
>>>>>>>>>>>
>>>>>>>>>> name="VERTICAL CONTROL" prefix="V_CTL_">   >>  <define
>>>>>>>>> name="ALTITUDE_PGAIN" value="-0.1" unit="(m/s)/m"/>  <!-->>
>>>>>>>>> altitude error->rate of climb -->   >>  <define
>>>>>>>>> name="ALTITUDE_MAX_CLIMB" value="1" unit="m/s"/>  <!-->>  max.
>>>>>>>>> rate of climb -->   >>  <!-- auto throttle inner loop -->   >>
>>>>>>>>> <define name="AUTO_THROTTLE_NOMINAL_**CRUISE_THROTTLE"
>>>>>>>>> value="0.6"
>>>>>>>>>  >>  unit="%"/>
>>>>>>>>>  >>  <define name="AUTO_THROTTLE_MIN_**CRUISE_THROTTLE"
>>>>>>>>> value="0.2"
>>>>>>>>>  >>  unit="%"/>
>>>>>>>>>  >>  <define name="AUTO_THROTTLE_MAX_**CRUISE_THROTTLE"
>>>>>>>>> value="1.0"
>>>>>>>>>  >>  unit="%"/>
>>>>>>>>>  >>  <define name="AUTO_THROTTLE_LOITER_**TRIM" value="1500"
>>>>>>>>>  >>  unit="pprz_t"/>
>>>>>>>>>  >>  <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"
>>>>>>>>> unit="pprz_t"/>
>>>>>>>>>  >>  <define name="AUTO_THROTTLE_CLIMB_**THROTTLE_INCREMENT"
>>>>>>>>>
>>>>>>>> value="0.3"
>>>>>
>>>>>>  >>  unit="%/(m/s)"/>
>>>>>>>>>  >>  <define name="AUTO_THROTTLE_PGAIN" value="-0.008"
>>>>>>>>> unit="%/(m/s)"/>   >>  <define name="AUTO_THROTTLE_IGAIN"
>>>>>>>>> value="0.1"/>   >>  <define name="AUTO_THROTTLE_PITCH_OF_**
>>>>>>>>> VZ_PGAIN"
>>>>>>>>> value="0.1"
>>>>>>>>>  >>  unit="rad/(m/s)"/>  <!-- orig 0.05 -->   >>  <!-- auto pitch
>>>>>>>>> inner loop -->   >>  <define name="AUTO_PITCH_PGAIN"
>>>>>>>>> value="-0.2"/>  <!-- orig 0.1 -->   >>  <define
>>>>>>>>> name="AUTO_PITCH_IGAIN" value="0.025"/>
>>>>>>>>>
>>>>>>>>
>>>>>>>  <define name="AUTO_PITCH_MAX_PITCH" value="0.5"/>   >>  <define
>>>>>>>>> name="AUTO_PITCH_MIN_PITCH" value="-0.5"/>   >>  <define
>>>>>>>>> name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>   >>  <!-- auto
>>>>>>>>> airspeed and altitude inner loop -->   >>  <define
>>>>>>>>> name="AUTO_AIRSPEED_SETPOINT" value="11.0" unit="m/s"/>   >>
>>>>>>>>>
>>>>>>>> <!--orig
>>>>>
>>>>>> 10.5 -->   >>  <define name="AUTO_AIRSPEED_PGAIN" value="0.060"/>
>>>>>>>>>
>>>>>>>> <!--
>>>>>
>>>>>> orig 0.060>>  -->   >>  <define name="AUTO_AIRSPEED_IGAIN"
>>>>>>>>> value="0.050"/>  <!-- orig>>  0.050 -->   >>  <define
>>>>>>>>> name="AUTO_GROUNDSPEED_**SETPOINT" value="7.0" unit="m/s"/>   >>
>>>>>>>>> <define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/>   >>
>>>>>>>>> <define
>>>>>>>>> name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>   >>  </section>
>>>>>>>>> >>
>>>>>>>>>
>>>>>>>>>> <section name="MISC">   >>  <define name="NOMINAL_AIRSPEED"
>>>>>>>>>>>
>>>>>>>>>> value="14.0" unit="m/s"/>   >>  <!--mainly for simulator -->
>>>>>>>>>> >>
>>>>>>>>> <define name="CARROT" value="5." unit="s"/>   >>  <define
>>>>>>>>> name="KILL_MODE_DISTANCE"
>>>>>>>>> value="(1.5*MAX_DIST_FROM_**HOME)"/>
>>>>>>>>>  >>  <define name="CONTROL_RATE" value="60" unit="Hz"/>   >>
>>>>>>>>> <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>   >>  <define
>>>>>>>>> name="UNLOCKED_HOME_MODE" value="FALSE"/>  <!-- if true,>>  HOME
>>>>>>>>> mode does not get stuck -->   >>  <define name="RC_LOST_MODE"
>>>>>>>>> value="PPRZ_MODE_AUTO2"/>   >>  <define name="ALT_KALMAN_ENABLED"
>>>>>>>>> value="TRUE"/>   >>   >>  <!-->>  <define name="GLIDE_AIRSPEED"
>>>>>>>>> value="10"/>   >>  <define name="GLIDE_VSPEED" value="3."/>   >>
>>>>>>>>> <define name="GLIDE_PITCH" value="45" unit="deg"/>   >>  -->   >>
>>>>>>>>> </section>   >>   >>  <section name="NAV">   >>  <define
>>>>>>>>>
>>>>>>>> name="NAV_PITCH"
>>>>>
>>>>>> value="0."/>   >>  <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
>>>>>>>>>
>>>>>>>>
>>>>>>>  </section>   >>   >>  <section name="AGGRESSIVE" prefix="AGR_">
>>>>>>> >>
>>>>>>>>> <define name="BLEND_START" value="20"/><!-- Altitude Error to
>>>>>>>>>
>>>>>>>>>> Initiate Aggressive Climb CANNOT BE ZERO!!-->   >>  <define
>>>>>>>>>>>
>>>>>>>>>> name="BLEND_END" value="10"/><!-- Altitude Error to Blend>>
>>>>>>>>> Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->   >>
>>>>>>>>> <define name="CLIMB_THROTTLE" value="1.00"/><!-- Gaz for
>>>>>>>>> Aggressive>>  Climb -->   >>  <define name="CLIMB_PITCH"
>>>>>>>>> value="0.5"/><!-- Pitch
>>>>>>>>>
>>>>>>>> for
>>>>>
>>>>>> Aggressive>>  Climb -->   >>  <define name="DESCENT_THROTTLE"
>>>>>>>>> value="0.1"/><!-- Gaz for Aggressive>>  Decent -->   >>  <define
>>>>>>>>> name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for>>
>>>>>>>>> Aggressive Decent -->   >>  <define name="CLIMB_NAV_RATIO"
>>>>>>>>> value="0.8"/><!-- Percent Navigation>>  for Altitude Error
>>>>>>>>> Equal to Start Altitude
>>>>>>>>> -->   >>  <define name="DESCENT_NAV_RATIO" value="1.0"/>   >>
>>>>>>>>> </section>   >>   >>  <section name="FAILSAFE"
>>>>>>>>> prefix="FAILSAFE_">
>>>>>>>>>
>>>>>>>>>> <define name="DELAY_WITHOUT_GPS" value="5" unit="s"/>   >>
>>>>>>>>>>>
>>>>>>>>>> <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>   >>
>>>>>>>>> <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>   >>
>>>>>>>>> <define
>>>>>>>>> name="DEFAULT_PITCH" value="0.3" unit="rad"/>   >>  </section>
>>>>>>>>> >>
>>>>>>>>>
>>>>>>>>
>>>>>>>  <!--<section name="DATALINK" prefix="DATALINK_">   >>  <define
>>>>>>>>> name="DEVICE_TYPE" value="PPRZ"/>   >>  <define
>>>>>>>>> name="DEVICE_ADDRESS"
>>>>>>>>> value="...."/>   >>  </section>  -->   >>   >>   >>  <section
>>>>>>>>>
>>>>>>>> name="XSENS">
>>>>>
>>>>>> <!--<define name="GPS_IMU_LEVER_ARM_X" value="-0.285f"/>  -->
>>>>>>>>>>>
>>>>>>>>>>
>>>>>>>  <!--<define name="GPS_IMU_LEVER_ARM_Y" value="0.0f"/>  -->   >>
>>>>>>>>> <!--<define name="GPS_IMU_LEVER_ARM_Z" value="0.0f"/>  -->   >>
>>>>>>>>> <define name="INS_PITCH_NEUTRAL_**DEFAULT" value="0.0f"/>   >>
>>>>>>>>> <define name="INS_ROLL_NEUTRAL_**DEFAULT" value="0.0f"/>   >>
>>>>>>>>> </section>   >>
>>>>>>>>>
>>>>>>>>>> <section name="DIGITAL_CAMERA" prefix="DC_">   >>  <define
>>>>>>>>>>>
>>>>>>>>>> name="AUTOSHOOT_QUARTERSEC_**PERIOD" value="6"
>>>>>>>>>  >>  unit="quarter_second"/>
>>>>>>>>>  >>  <define name="AUTOSHOOT_METER_GRID" value="50"
>>>>>>>>> unit="meter"/>
>>>>>>>>>
>>>>>>>>>> </section>   >>   >>  <modules>   >>  <load
>>>>>>>>>>>
>>>>>>>>>> name="ins_xsens_MTiG_**fixedwing.xml">
>>>>>>>>>  >>  <configure name="XSENS_UART_NR" value="0"/>   >>  <define
>>>>>>>>> name="XSENS_BACKWARDS" />   >>  </load>   >>  <load
>>>>>>>>> name="airspeed_ets.xml">   >>  <define name="AIRSPEED_ETS_SCALE"
>>>>>>>>> value="1.8"/>   >>  <define name="AIRSPEED_ETS_OFFSET"
>>>>>>>>> value="4"/>
>>>>>>>>>
>>>>>>>>
>>>>>>>  <define name="AIRSPEED_ETS_I2C_DEV" value="i2c0"/>   >>  <!--
>>>>>>>>> <define name="SENSOR_SYNC_SEND"/>  Sending the raw airspeed>>
>>>>>>>>> by telemetry (high bandwith)-->   >>  </load>   >>  <load
>>>>>>>>> name="baro_ets.xml">   >>  <define name="BARO_ETS_TELEMETRY"/>
>>>>>>>>> <!-- Sending the barometric>>  pressure by telemetry -->   >>
>>>>>>>>> </load>   >>  <load name="digital_cam.xml">   >>  <define
>>>>>>>>> name="DC_SHUTTER_LED"
>>>>>>>>> value="5"/>   >>  <define name="POWER_SWITCH_LED" value="4"/>
>>>>>>>>> >>
>>>>>>>>> </load>   >>  <!--<load name="adc_generic.xml">  -->   >>  <!--
>>>>>>>>> <configure name="ADC_CHANNEL_GENERIC1" value="ADC_3"/>  -->   >>
>>>>>>>>> <!--<configure name="ADC_CHANNEL_GENERIC2" value="ADC_4"/>  -->
>>>>>>>>>
>>>>>>>>>> <!--</load>  -->   >>  </modules>   >>   >>   >>   >>   >>
>>>>>>>>>>>
>>>>>>>>>> </airframe>   >>
>>>>>>>>>
>>>>>>>>>>  >>   >>   >>   >>   >>   >>
>>>>>>>>>>>
>>>>>>>>>> ______________________________**_________________
>>>>>>>>>  >>  Paparazzi-devel mailing list>>  address@hidden
>>>>>>>>> <mailto:address@hidden
>>>>>>>>> <address@hidden>>
>>>>>>>>>  >>  
>>>>>>>>> https://lists.nongnu.org/**mailman/listinfo/paparazzi-**devel<https://lists.nongnu.org/mailman/listinfo/paparazzi-devel>
>>>>>>>>>  >
>>>>>>>>>  >  ______________________________**_________________
>>>>>>>>>  >  Paparazzi-devel mailing list
>>>>>>>>>  >  address@hidden
>>>>>>>>> <mailto:address@hidden
>>>>>>>>> <address@hidden>>
>>>>>>>>>  >  
>>>>>>>>> https://lists.nongnu.org/**mailman/listinfo/paparazzi-**devel<https://lists.nongnu.org/mailman/listinfo/paparazzi-devel>
>>>>>>>>>  >
>>>>>>>>>
>>>>>>>>>
>>>>>>>>>
>>>>>>>>>  ______________________________**_________________
>>>>>>>>>  Paparazzi-devel mailing list
>>>>>>>>>  address@hidden<**mailto:address@hidden<address@hidden>
>>>>>>>>> >
>>>>>>>>>  
>>>>>>>>> https://lists.nongnu.org/**mailman/listinfo/paparazzi-**devel<https://lists.nongnu.org/mailman/listinfo/paparazzi-devel>
>>>>>>>>>
>>>>>>>>
>>>>>>>>
>>>>>>>>
>>>>>>>> ______________________________**_________________
>>>>>>>> Paparazzi-devel mailing list
>>>>>>>> address@hidden
>>>>>>>> https://lists.nongnu.org/**mailman/listinfo/paparazzi-**devel<https://lists.nongnu.org/mailman/listinfo/paparazzi-devel>
>>>>>>>>
>>>>>>>
>>>>>>> --
>>>>>>> Balazs GATI, PhD
>>>>>>>       Department of Aircraft and Ships
>>>>>>>       Budapest University of Technology and Economics
>>>>>>>
>>>>>>> Address:   Budapest
>>>>>>>            Stoczek u 6. J. ép. 423
>>>>>>>            1111
>>>>>>> Tel:       +(36)-1-463-1960
>>>>>>> Fax:       +(36)-1-463-3080
>>>>>>> Homepage: http://rht.bme.hu/~gatib/
>>>>>>>
>>>>>>> ______________________________**_________________
>>>>>>> Paparazzi-devel mailing list
>>>>>>> address@hidden
>>>>>>> https://lists.nongnu.org/**mailman/listinfo/paparazzi-**devel<https://lists.nongnu.org/mailman/listinfo/paparazzi-devel>
>>>>>>>
>>>>>>>
>>>>>>
>>>>>>
>>>>>> ______________________________**_________________
>>>>>> Paparazzi-devel mailing list
>>>>>> address@hidden
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>>>>>
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>>>>                                        ______________________________**
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>>
>> --
>> Balazs GATI, PhD
>>     Department of Aircraft and Ships
>>     Budapest University of Technology and Economics
>>
>> Address:   Budapest
>>          Stoczek u 6. J. ép. 423
>>          1111
>> Tel:       +(36)-1-463-1960
>> Fax:       +(36)-1-463-3080
>> Homepage: http://rht.bme.hu/~gatib/
>>
>> ______________________________**_________________
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>> https://lists.nongnu.org/**mailman/listinfo/paparazzi-**devel<https://lists.nongnu.org/mailman/listinfo/paparazzi-devel>
>>
> _______________________________________________
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>