/[paparazzi]/paparazzi2/conf/airframes/microjet.xml
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Contents of /paparazzi2/conf/airframes/microjet.xml

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Revision 1.16 - (show annotations) (download) (as text)
Fri Nov 5 15:09:47 2004 UTC (19 years, 5 months ago) by poine
Branch: MAIN
Changes since 1.15: +0 -1 lines
File MIME type: text/xml
MAX_DIST_FROM_HOME migrated to mission

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>

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