[paparazzi-commits] [4356] Updated for Booz electronics.

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[paparazzi-commits] [4356] Updated for Booz electronics.

From:	Anton K.
Subject:	[paparazzi-commits] [4356] Updated for Booz electronics.
Date:	Sat, 28 Nov 2009 23:00:00 +0000
Revision: 4356
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4356
Author:   antonk
Date:     2009-11-28 22:59:59 +0000 (Sat, 28 Nov 2009)
Log Message:
-----------
Updated for Booz electronics.

Modified Paths:
--------------
    paparazzi3/trunk/conf/airframes/booz2_NoVa.xml

Modified: paparazzi3/trunk/conf/airframes/booz2_NoVa.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_NoVa.xml      2009-11-27 14:43:59 UTC 
(rev 4355)
+++ paparazzi3/trunk/conf/airframes/booz2_NoVa.xml      2009-11-28 22:59:59 UTC 
(rev 4356)
@@ -1,82 +1,65 @@
 <airframe name="BOOZ2_A2">
 
-       <servos min="0" neutral="0" max="0xff">
-               <servo name="FRONT" no="0" min="0" neutral="0" max="255" />
-               <servo name="BACK" no="1" min="0" neutral="0" max="255" />
-               <servo name="RIGHT" no="2" min="0" neutral="0" max="255" />
-               <servo name="LEFT" 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="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
-               <define name="NB" value="4" />
-               <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }" />
-       </section>
-       
-       <section name="SUPERVISION" prefix="SUPERVISION_">
-               <define name="MIN_MOTOR" value="2" />
-               <define name="MAX_MOTOR" value="210" />
-               <define name="TRIM_A" value="0" />
-               <define name="TRIM_E" value="0" />
-               <define name="TRIM_R" value="0" />
-               <define name="NB_MOTOR" value="4" />
-               <define name="SCALE" value="256"/>
-               <define name="ROLL_COEF"   value="{   0,    0, -256,  256}" />
-               <define name="PITCH_COEF"  value="{ 256, -256,    0,    0}" />
-               <define name="YAW_COEF"    value="{ 256,  256, -256, -256}" />
-               <define name="THRUST_COEF" value="{ 256,  256,  256,  256}"/>
-       </section>
+  <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="0"/>
-    <define name="GYRO_Q_CHAN" value="4"/>
-    <define name="GYRO_R_CHAN" value="1"/>
+    <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="31755"/>
-    <define name="GYRO_Q_NEUTRAL" value="32506"/>
-    <define name="GYRO_R_NEUTRAL" value="32527"/>
+    <define name="GYRO_P_NEUTRAL" value="33008"/>
+    <define name="GYRO_Q_NEUTRAL" value="31899"/>
+    <define name="GYRO_R_NEUTRAL" value="32989"/>
 
-    <define name="GYRO_P_SENS" value=" -0.85" integer="16"/>
-    <define name="GYRO_Q_SENS" value=" -0.85" integer="16"/>
-    <define name="GYRO_R_SENS" value=" 0.85" integer="16"/>
-  
+    <define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
+    <define name="GYRO_Q_SENS" value="-1.01" integer="16"/>
+    <define name="GYRO_R_SENS" value="-1.01" integer="16"/>
+
+
     <define name="ACCEL_X_CHAN" value="5"/>
-    <define name="ACCEL_Y_CHAN" value="2"/>
-    <define name="ACCEL_Z_CHAN" value="6"/>    
-    
-    <define name="ACCEL_X_SENS" value="6.12338596" integer="16"/>
-    <define name="ACCEL_Y_SENS" value="-6.39550613" integer="16"/>
-    <define name="ACCEL_Z_SENS" value="6.53008652" integer="16"/>
-    
-    <define name="ACCEL_X_NEUTRAL" value="38767"/>
-    <define name="ACCEL_Y_NEUTRAL" value="39369"/>
-<define name="ACCEL_Z_NEUTRAL" value="40302"/>
+    <define name="ACCEL_Y_CHAN" value="3"/>
+    <define name="ACCEL_Z_CHAN" value="4"/>
 
+    <define name="ACCEL_X_SENS" value="-2.19476868" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="-2.88368188" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="-2.57172803" integer="16"/>
+
+    <define name="ACCEL_X_NEUTRAL" value="33160"/>
+    <define name="ACCEL_Y_NEUTRAL" value="32523"/>
+    <define name="ACCEL_Z_NEUTRAL" value="32418"/>
+
     <define name="MAG_X_CHAN" value="0"/>
-    <define name="MAG_Y_CHAN" value="4"/>
+    <define name="MAG_Y_CHAN" value="1"/>
     <define name="MAG_Z_CHAN" value="2"/>
-    
-    <define name="MAG_X_NEUTRAL" value="2339"/>
-    <define name="MAG_Y_NEUTRAL" value="2106"/> 
-    <define name="MAG_Z_NEUTRAL" value="1902"/>
 
-    <define name="MAG_X_SENS" value="-4.4039655" integer="16"/>
-    <define name="MAG_Y_SENS" value="-4.2959321" integer="16"/>
-    <define name="MAG_Z_SENS" value="-4.0988408" integer="16"/>
+    <define name="MAG_X_SENS" value="4.73914612" integer="16"/>
+    <define name="MAG_Y_SENS" value="-5.34705586" integer="16"/>
+    <define name="MAG_Z_SENS" value="-3.57580805" integer="16"/>
 
-    <define name="BODY_TO_IMU_PHI"   value="ANGLE_BFP_OF_REAL(RadOfDeg(-2))"/>
+    <define name="MAG_X_NEUTRAL" value="-89"/>
+    <define name="MAG_Y_NEUTRAL" value="20"/>
+    <define name="MAG_Z_NEUTRAL" value="-30"/>
+
+    <define name="BODY_TO_IMU_PHI"   value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))"/>
     <define name="BODY_TO_IMU_THETA" value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))"/>
     <define name="BODY_TO_IMU_PSI"   value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))"/>
 
   </section>
 
+
   <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
 
     <define name="SP_MAX_P" value="10000"/>
@@ -98,12 +81,12 @@
     <define name="DEADBAND_R"     value="250"/>
 
      <!-- reference -->
-    <define name="REF_OMEGA_P"  value="RadOfDeg(400)"/>
+    <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(400)"/>
+    <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.)"/>
@@ -114,6 +97,7 @@
     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
    <!-- feedback -->
+    <!--
     <define name="PHI_PGAIN"  value="-400"/>
     <define name="PHI_DGAIN"  value="-300"/>
     <define name="PHI_IGAIN"  value="-100"/>
@@ -125,7 +109,20 @@
     <define name="PSI_PGAIN"  value="-380"/>
     <define name="PSI_DGAIN"  value="-320"/>
     <define name="PSI_IGAIN"  value="-75"/>
+-->
 
+    <define name="PHI_PGAIN"  value="-2000"/>
+    <define name="PHI_DGAIN"  value="-400"/>
+    <define name="PHI_IGAIN"  value="-200"/>
+
+    <define name="THETA_PGAIN"  value="-2000"/>
+    <define name="THETA_DGAIN"  value="-400"/>
+    <define name="THETA_IGAIN"  value="-200"/>
+
+    <define name="PSI_PGAIN"  value="-1000"/>
+    <define name="PSI_DGAIN"  value="-350"/>
+    <define name="PSI_IGAIN"  value="-10"/>
+
     <!-- feedforward -->
     <define name="PHI_DDGAIN"   value=" 300"/>
     <define name="THETA_DDGAIN" value=" 300"/>
@@ -133,6 +130,25 @@
 
   </section>
 
+ <section name="SUPERVISION" prefix="SUPERVISION_">
+               <define name="MIN_MOTOR" value="2" />
+               <define name="MAX_MOTOR" value="210" />
+               <define name="TRIM_A" value="0" />
+               <define name="TRIM_E" value="0" />
+               <define name="TRIM_R" value="0" />
+               <define name="NB_MOTOR" value="4" />
+               <define name="SCALE" value="256"/>
+               <define name="ROLL_COEF"   value="{   0,    0, -256,  256}" />
+               <define name="PITCH_COEF"  value="{ 256, -256,    0,    0}" />
+               <define name="YAW_COEF"    value="{ 256,  256, -256, -256}" />
+               <define name="THRUST_COEF" value="{ 256,  256,  256,  256}"/>
+       </section>
+
+<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
+               <define name="NB" value="4" />
+               <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }" />
+       </section>
+
   <section name="INS" prefix="BOOZ_INS_">
     <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
@@ -163,7 +179,7 @@
  <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"/>
+   <define name="BATTERY_SENS"   value="0.19" integer="16"/>
 <!--   <define name="BATTERY_SENS"   value="1" integer="16"/>-->
  </section>
 
@@ -180,7 +196,7 @@
 
   <makefile>
 ARCH=lpc21
-BOARD_CFG = \"twog_booz.h\"
+BOARD_CFG = \"boards/booz2_v1_0.h\"
 
 # prevents motors from ever starting
 ap.CFLAGS += -DKILL_MOTORS
@@ -189,13 +205,15 @@
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
 
+#ap.CFLAGS += -DMODEM_BAUD=B38400
 ap.CFLAGS += -DMODEM_BAUD=B57600
 include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
 include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
-include $(CFG_BOOZ)/subsystems/booz2_imu_crista.makefile
+include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
 include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
 
 include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
+
 include $(CFG_BOOZ)/subsystems/booz2_fms_test_signal.makefile
 
   </makefile>
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