Re: [Paparazzi-devel] xsens module

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Re: [Paparazzi-devel] xsens module

From:	Felix Ruess
Subject:	Re: [Paparazzi-devel] xsens module
Date:	Thu, 31 May 2012 09:10:27 +0200
Hi Balazs,

While I haven't used or tested the xsens stuff, this should work:

<subsystem name="ins" type="xsens">
    <configure name="XSENS_UART_NR" value="0"/>
</subsystem>

Cheers, Felix

On Thu, May 31, 2012 at 9:11 AM,  <address@hidden> wrote:
> Thank you! I've got a lot of uart related warnings. (UART_BAUD,
> UartTransmit) How can I setup the Uart channel for the xsens?
>
>
> Balazs
>
>
>
>> Hi Balzas,
>>
>> use the ins_xsens subsystem:
>> <subsystem name="ins" type="xsens"/>
>> and remove the gps_xsens subsystem and the xsens module.
>>
>> Cheers, Felix
>>
>> On Wed, May 30, 2012 at 12:13 AM, <address@hidden> wrote:
>>
>>> Hi,
>>>
>>> I just upgraded to the latest v3.9 branch, in order to test the behavior
>>> of the AUX line. But the build process failed because of the missing
>>> ins_xsens_MTiG_fixedwing module. I tried the ins_xsens_MTiG_Uart0.xml,
>>> too, but this resulted error, too:
>>> make[1]: *** No rule to make target
>>>
>>> `/home/XXXXX/paparazzi/conf/firmwares/subsystems/shared/gps_xsens.makefile'.
>>>  Stop.
>>>
>>> Please confirm, that the xsense support was changed this year. (Or I did
>>> something wrong with git clone?)
>>>
>>> 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>>
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>>> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel>
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>>> >>>>>>>>>  >  ______________________________**_________________
>>> >>>>>>>>>  >  Paparazzi-devel mailing list
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>>> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel>
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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
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>>> >>
>>> >> --
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>>> >>     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
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