1 |
<airframe name="Microjet one" ctl_board="V1_2" gps="SAM_LS"> |
2 |
<section name="adc" prefix="ADC_CHANNEL_"> |
3 |
<define name="IR1" value="1"/> |
4 |
<define name="IR2" value="0"/> |
5 |
<define name="AIRSPEED" value="2"/> |
6 |
<define name="CURRENT " value="3"/> |
7 |
<define name="BAT" value="4"/> |
8 |
</section> |
9 |
<servos min="1000" neutral="1500" max="2000"> |
10 |
<servo name="GAZ" no="3" min="1000" neutral="1000" max="2000"/> |
11 |
<servo name="AILEVON_LEFT" no="0" min="1800" neutral="1492" max="1179"/> |
12 |
<servo name="AILEVON_RIGHT" no="2" min="1990" neutral="1662" max="1389"/> |
13 |
</servos> |
14 |
<command> |
15 |
<set servo="GAZ" value="2 * @THROTTLE"/> |
16 |
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/> |
17 |
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/> |
18 |
<set servo="AILEVON_LEFT" value="$aileron + $elevator"/> |
19 |
<set servo="AILEVON_RIGHT" value="$aileron - $elevator"/> |
20 |
</command> |
21 |
<section name="MIXER"> |
22 |
<define name="AILEVON_AILERON_RATE" value="0.55"/> |
23 |
<define name="AILEVON_ELEVATOR_RATE" value="0.75"/> |
24 |
</section> |
25 |
<section name="INFRARED" prefix="IR_"> |
26 |
<define name="ROLL_NEUTRAL_DEFAULT" value="0"/> |
27 |
<define name="PITCH_NEUTRAL_DEFAULT" value="1040"/> |
28 |
<define name="DEFAULT_CONTRAST" value="400"/> |
29 |
<define name="RAD_OF_IR_CONTRAST" value="0.9"/> |
30 |
<linear name="RollOfIrs" arity="2" coeff1="1" coeff2="-1"/> |
31 |
<linear name="PitchOfIrs" arity="2" coeff1="1" coeff2="1"/> |
32 |
</section> |
33 |
<section name="PID"> |
34 |
<define name="ROLL_PGAIN" value="7000."/> |
35 |
<define name="PITCH_OF_ROLL" value="0.2"/> |
36 |
<define name="PITCH_PGAIN" value="10000."/> |
37 |
<define name="MAX_ROLL" value="0.4"/> |
38 |
</section> |
39 |
<section name="ALT" prefix="CLIMB_"> |
40 |
<define name="PGAIN" value="-0.025"/> |
41 |
<define name="IGAIN" value="0.01"/> |
42 |
<define name="MAX" value="1."/> |
43 |
<define name="LEVEL_GAZ" value="0.25"/> |
44 |
<define name="GAZ_MAX" value="2.5" unit="m/s"/> |
45 |
</section> |
46 |
<section name="NAV"> |
47 |
<define name="COURSE_PGAIN" value="-0.3"/> |
48 |
<define name="ALTITUDE_PGAIN" value="-0.05"/> |
49 |
<define name="NAV_PITCH" value="0."/> |
50 |
</section> |
51 |
<section name="BAT"> |
52 |
<define name="VOLTAGE_ADC_A" value="0.016768"/> |
53 |
<define name="VOLTAGE_ADC_B" value="0.089803"/> |
54 |
<define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/> |
55 |
<define name="LOW_BATTERY" value="90" unit="1e-1V"/> |
56 |
</section> |
57 |
<section name="MISC"> |
58 |
<define name="NOMINAL_AIRSPEED" value="15."/> |
59 |
<define name="CARROT" value="5." unit="s"/> |
60 |
</section> |
61 |
</airframe> |