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Re: [Paparazzi-devel] DiscoveryF4 bat volatge messurement not runnig bug

From: Prof. Dr.-Ing. Heinrich Warmers
Subject: Re: [Paparazzi-devel] DiscoveryF4 bat volatge messurement not runnig bug report
Date: Sat, 06 Sep 2014 12:09:08 +0200
User-agent: Mozilla/5.0 (Windows; U; Windows NT 5.0; de-DE; rv:1.4) Gecko/20030619 Netscape/7.1 (ax)
Hi Felix,
Tank you for fixing the bug.
Now it is running.
Regards

Heinrich

Felix Ruess schrieb:
Hi Heinrich,

I think I found the problem, can you plz test https://github.com/paparazzi/paparazzi/pull/822

Cheers, Felix


On Wed, Sep 3, 2014 at 7:36 PM, Prof. Dr.-Ing. Heinrich Warmers <address@hidden> wrote:
Hi,
i made same test with die discoveryF4.
In actually master and stabile version of paparazzi   the measurement of the bat voltage  is not working.
In a master version from 11.2013 656a13 -v5.1 its runs perfect.
Can some test it  in the stabile Version 5.2 and 5.0?

Regards

Heinrich

<!DOCTYPE airframe SYSTEM "../airframe.dtd">

<!-- Discovery F4 for normal plane, with DROTEK 10Dof IMU -->

<airframe name="HB_DiscoveryFixed">


 <firmware name="fixedwing">
      <target name="ap"  board="stm32f4_discovery"/>
      <target name="sim" board="pc"/>


<!--#######################################################################################-->
<!--##############################   GLOBAL DEFINITIONS   #################################-->
<!--#######################################################################################-->

      <!--  "configure" pass the definition in the makefile -->
      <configure name="SYS_TIME_LED" value="3"/>
      <!--  "define" pass the definition in the C preprocessor -->

      <define name="USE_LED_3"/>
      <define name="USE_LED_4"/>
      <define name="USE_LED_5"/>
      <define name="USE_LED_6"/>
        <define name="USE_ADC_1" value="1"/>
        <define name="USE_ADC_2" value="1"/>
        <define name="USE_ADC_3" value="1"/>
        <define name="USE_ADC_4" value="1"/>
        <define name="AGR_CLIMB"/>
      <define name="WIND_INFO"/>
      <define name="WIND_INFO_RET"/>
      <define name="STRONG_WIND"/>
      <define name="ALT_KALMAN"/>
      <define name="USE_I2C"/>
      <define name="USE_I2C2"/>
<!--      <define name="SENSOR_SYNC_SEND"/>  -->
      <define name="USE_AHRS_GPS_ACCELERATIONS"/>
      <define name="USE_GROUNDSPEED_CONTROL"/>
      <configure name="PERIODIC_FREQUENCY" value="120"/>
      <configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
      <configure name="AHRS_CORRECT_FREQUENCY" value="100"/>

<!--      <define name="ADC_CHANNEL_VSUPPLY" value="ADC_1" />  -->
<!--      <define name="MEASURE_AIRSPEED"/>  -->
<!--      <define name="USE_AIRSPEED"/>  -->
<!--    <define name="USE_BAROMETER"/>  -->
<!--      <define name="USE_INS_NAV_INIT" value=FALSE"/> --> <!--Set Home to flight plan coordinates -->

<!--#######################################################################################-->
<!--##############################     SUBSYSTEMS         #################################-->
<!--#######################################################################################-->
<!-- "define" goes to the C preprocessor, "configure" configures the makefile -->

      <subsystem name="telemetry" type="transparent">
      <configure name="MODEM_BAUD" value="B57600"/>
      <configure name="MODEM_PORT" value="UART2"/>
<!--      <configure name="MODEM_LED"  value="5"/>  -->
        </subsystem>
        <subsystem name="gps" type="ublox">
      <configure name="GPS_BAUD"          value="B38400"/>
      <configure name="GPS_PORT"          value="UART3"/>
      <configure name="GPS_LED"           value="6"/>
<!--      <configure name="GPS_LED"           value="none"/> -->
        </subsystem>
      <subsystem name="control" />
      <subsystem name="radio_control" type="ppm"/>
      <subsystem name="navigation" type="extra"/>
<!--
subsystems/imu/imu_drotek_10dof_v2.c:42:1: note: #pragma message: Config: Gyro/Accel output rate is 100Hz
subsystems/imu/imu_drotek_10dof_v2.c:44:1: note: #pragma message: Config: DROTEK_2_SMPLRT_DIV = 9
subsystems/imu/imu_drotek_10dof_v2.c:45:1: note: #pragma message: Config: DROTEK_2_LOWPASS_FILTER = MPU60X0_DLPF_42HZ
subsystems/imu/imu_drotek_10dof_v2.c:50:1: note: #pragma message: Config: DROTEK_2_GYRO_RANGE = MPU60X0_GYRO_RANGE_1000
subsystems/imu/imu_drotek_10dof_v2.c:55:1: note: #pragma message: Config: DROTEK_2_ACCEL_RANGE = MPU60X0_ACCEL_RANGE_8G
subsystems/imu/imu_drotek_10dof_v2.c:60:1: note: #pragma message: Config: DROTEK_2_MPU_I2C_ADDR = 0xD2
subsystems/imu/imu_drotek_10dof_v2.c:65:1: note: #pragma message: Config: DROTEK_2_HMC_I2C_ADDR = 0x3C
-->  
      <subsystem name="imu"      type="drotek_10dof_v2">
            <define name="DROTEK_2_MPU_I2C_ADDR" value="MPU60X0_ADDR_ALT" />
            <!-- <define name="IMU_DROTEK_2_ORIENTATION_IC_UP" value="1" /> -->
      </subsystem>

      <!-- MAGNETOMETER IS NOT WORKING IN DCM BE CAREFULL -->
        <!-- olri <subsystem name="ahrs" type="float_dcm"> -->
        <subsystem name="ahrs" type="int_cmpl_quat">
            <define name="USE_MAGNETOMETER" value="1"/>
            <define name="USE_MAGNETOMETER_ONGROUND" value="0"/>
        </subsystem>
      <subsystem name="ins" type="alt_float"/>
<!--      <subsystem name="spi" type="master"/>  -->
</firmware>


<!--#######################################################################################-->
<!--################################      MODULES         #################################-->
<!--#######################################################################################-->
 <modules>
        <!-- baro_ms5611_i2c Alternate address -->
      <load name="baro_ms5611_i2c.xml">
            <define name="MS5611_I2C_DEV" value="i2c2" />
            <define name="MS5611_SLAVE_ADDR=0xEE"/>
            <define name="MS5611_SEND_BARO_ALTITUDE"/>
            <!-- olri
            <define name="SENSOR_SYNC_SEND"/>
             olri -->
      </load>

      <load name="gps_ubx_ucenter.xml"/>

</modules>


<!--#######################################################################################-->
<!--#############################   SERVOS AND CONTROLS   #################################-->
<!--#######################################################################################-->
<!-- commands section -->
<servos>
      <servo name="AILERON"          no="0" min="988"      neutral="1500" max="2012"/>
      <servo name="ELEVATOR"         no="1" min="988"      neutral="1500" max="2012"/>
      <servo name="ENGINE"           no="2" min="1060"      neutral="1060" max="2012"/>
      <servo name="FLAPS"            no="3" min="988"      neutral="988"  max="2012"/>
      <servo name="ANT_PAN"          no="4" min="950"      neutral="1485" max="2050"/>
      <servo name="CAM_ZOOM"         no="5" min="998"      neutral="1500" max="2012"/>
      <servo name="CAM_PAN"          no="6" min="970"      neutral="1500" max="2075"/>
      <servo name="CAM_TILT"         no="7" min="1040"      neutral="1500" max="1900"/>
</servos>

<commands>
      <axis name="ROLL"       failsafe_value="0"/>
      <axis name="PITCH"            failsafe_value="0"/>
      <axis name="THROTTLE"         failsafe_value="0"/>
      <axis name="FLAPS"            failsafe_value="0"/>
      <axis name="ANT_PAN"          failsafe_value="0"/>
      <axis name="CAM_ZOOM"         failsafe_value="0"/>
      <axis name="CAM_PAN"          failsafe_value="0"/>
      <axis name="CAM_TILT"         failsafe_value="0"/>
</commands>

<rc_commands>
      <set command="ROLL"            value="@ROLL"/>
      <set command="PITCH"           value="@PITCH"/>
      <set command="THROTTLE"        value="@THROTTLE"/>
      <set command="FLAPS"        value="@FLAPS"/>
</rc_commands>

  <section name="MIXER">
    <define name="FLAP_TO_ELEVATOR_MIX" value="-0.15"/>
  </section>

  <command_laws>
    <let var="elevator"  value="(@PITCH + (@FLAPS * FLAP_TO_ELEVATOR_MIX))"/>
    <set servo="ENGINE"                value="@THROTTLE"/>
    <set servo="AILERON"         value="@ROLL"/>
    <set servo="ELEVATOR"        value="$elevator"/>
    <set servo="ANT_PAN"         value="@ANT_PAN"/>
    <set servo="FLAPS"                 value="@FLAPS"/>
    <set servo="CAM_ZOOM"        value="@CAM_ZOOM"/>
    <set servo="CAM_PAN"         value="@CAM_PAN"/>
    <set servo="CAM_TILT"        value="@CAM_TILT"/>
  </command_laws>

<!-- EMPTY "auto_rc_commands" block means NO RC RUDDER CONTROL IN AUTO2 AND AUTO1 -->
 <auto_rc_commands>
<!--  <set command="YAW" value="@YAW"/> -->
 </auto_rc_commands>


<ap_only_commands>
      <copy command="ANT_PAN"/>
</ap_only_commands>


<!--#######################################################################################-->
<!--#################################    I M U SETUP      #################################-->
<!--#######################################################################################-->

<!-- Normalized Local magnetic field obtained from http://www.ngdc.noaa.gov/geomag-web/#igrfwmm -->
<!-- Magnetic field intensity / total field strength -->
<!-- Calculated for PIRAEUS HELLAS 31 MAY 2013 declination = 3.59 degrees, 5.9 deg/year-->
<section name="AHRS" prefix="AHRS_" >
    <define name="H_X" value="(26536.9/45821.6)" />
    <define name="H_Y" value="(1850.1/45821.6)" />
    <define name="H_Z" value="(37309.3/45821.6) " />
    <define name="MAG_DECLINATION" value="(RadOfDeg(4))" />
</section>

<section name="IMU" prefix="IMU_">
    <define name="GYRO_P_SIGN" value="1"/>
    <define name="GYRO_Q_SIGN" value="1"/>
    <define name="GYRO_R_SIGN" value="1"/>

    <define name="ACCEL_X_SIGN" value="1"/>
    <define name="ACCEL_Y_SIGN" value="1"/>
    <define name="ACCEL_Z_SIGN" value="1"/>
   
    <define name="MAG_X_SIGN" value="1"/>
    <define name="MAG_Y_SIGN" value="1"/>
    <define name="MAG_Z_SIGN" value="1"/>

    <define name="GYRO_P_Q" value="0."/>
    <define name="GYRO_P_R" value="0."/>
    <define name="GYRO_Q_P" value="0."/>
    <define name="GYRO_Q_R" value="0."/>
    <define name="GYRO_R_P" value="0."/>
    <define name="GYRO_R_Q" value="0."/>

    <!-- Found with calibrate.py script and visual observation of the RAW values -->
<!--
    <define name="ACCEL_X_NEUTRAL" value="-223"/>
    <define name="ACCEL_Y_NEUTRAL" value="-704"/>
    <define name="ACCEL_Z_NEUTRAL" value="-40"/>
-->


     <define name="GYRO_P_NEUTRAL" value="5" />
    <define name="GYRO_Q_NEUTRAL" value="25" />
    <define name="GYRO_R_NEUTRAL" value="12" />

<!-- SENS = 2048 LSB/g / 9.81 ms2/g = 208.766564729 LSB/ms2 / 10bit FRAC: 1024 / 208.7665 -->
    <!-- Found with calibrate.py script -->
    <define name="ACCEL_X_NEUTRAL" value="8"/>
    <define name="ACCEL_Y_NEUTRAL" value="25"/>
    <define name="ACCEL_Z_NEUTRAL" value="-55"/>
    <define name="ACCEL_X_SENS" value="2.46169818688" integer="16"/>
    <define name="ACCEL_Y_SENS" value="2.4400141151" integer="16"/>
    <define name="ACCEL_Z_SENS" value="2.42446843209" integer="16"/>

    <define name="BODY_TO_IMU_PHI"   value="9.7" unit="deg"/>
    <define name="BODY_TO_IMU_THETA" value="-2.4" unit="deg"/>
    <define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>


    <!-- Found with calibrate.py script -->
    <define name="MAG_X_NEUTRAL" value="73"/>
    <define name="MAG_Y_NEUTRAL" value="118"/>
    <define name="MAG_Z_NEUTRAL" value="169"/>

    <define name="MAG_X_SENS" value="4.25741044617" integer="16"/>
    <define name="MAG_Y_SENS" value="4.26451705702" integer="16"/>
    <define name="MAG_Z_SENS" value="4.87790997442" integer="16"/>

</section>

<!--#######################################################################################-->
<!--##################   AIRCRAFT ATTITUDE TRIMMING AND AUTO1 LIMITS  #####################-->
<!--#######################################################################################-->
<section name="INS" prefix="INS_">
      <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0.)" unit="radians"/>
      <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0.)" unit="radians"/>
</section>

<section name="AUTO1" prefix="AUTO1_">
      <define name="MAX_ROLL" value="40" unit="deg"/>
      <define name="MAX_PITCH" value="30" unit="deg"/>
</section>


<!--#######################################################################################-->
<!--#########################   AIRCRAFT  VERTICAL CONTROL SETUP   ########################-->
<!--#######################################################################################-->
<section name="VERTICAL CONTROL" prefix="V_CTL_">
                    <!-- OUTER LOOP PARAMETERS  -->
<!-- The below definition affect the throttle percentage shown on the GCS. -->
      <define name="POWER_CTL_BAT_NOMINAL" value="12.6" unit="volt"/>
    <!-- outer loop ALTITUDE proportional gain -->
      <define name="ALTITUDE_PGAIN" value="0.07" unit="(m/s)/m"/>
    <!-- outer loop ALTITUDE LIMIT (saturation) -->
      <define name="ALTITUDE_MAX_CLIMB" value="3" unit="m/s"/>
    <!-- outer loop AIRSPEED proportional gain -->
      <define name="AIRSPEED_PGAIN"      value="0.2"/>

                   <!-- INNER LOOP PARAMETERS -->
        <!-- The below definitions are used almost always -->
      <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE"      value="0.50" unit="%"/>
      <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE"      value="0.40" unit="%"/>
      <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE"      value="0.70" unit="%"/>
      <define name="THROTTLE_SLEW_LIMITER"              value="0.6" unit="s"/>
      <define name="AUTO_PITCH_MAX_PITCH"               value="RadOfDeg(20)"/>
      <define name="AUTO_PITCH_MIN_PITCH"               value="RadOfDeg(-20)"/>
     
      <!-- Climb loop (throttle) -->
      <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"       value="0.1"  unit="%/(m/s)"/>
      <define name="AUTO_THROTTLE_NOMINAL_CRUISE_PITCH"      value="0.0" unit="rad"/>

      <define name="AUTO_THROTTLE_PGAIN"                value="0.008"unit="%/(m/s)"/>
      <define name="AUTO_THROTTLE_IGAIN"                value="0.0"/>
      <define name="AUTO_THROTTLE_DGAIN"                value="0.001"/>

      <!-- Climb loop (pitch) -->
        <!-- magnitude of elevator movement on altitude change -->
      <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"          value="0.15" unit="rad/(m/s)"/> <!-- 0.05 -->
        <define name="AUTO_PITCH_PGAIN"                   value="0.04"/> <!--0.052-->
        <define name="AUTO_PITCH_DGAIN"                   value="0.0"/>
        <define name="AUTO_PITCH_IGAIN"                   value="0.01"/> <!--0.065-->

      <!-- Loiter and Dash trimming -->
      <define name="AUTO_THROTTLE_LOITER_TRIM"          value="0" unit="pprz_t"/>
      <define name="AUTO_THROTTLE_DASH_TRIM"                  value="0" unit="pprz_t"/>
      <define name="PITCH_LOITER_TRIM"                  value="0" unit="pprz_t"/>
      <define name="PITCH_DASH_TRIM"                    value="0" unit="pprz_t"/>

        <!-- The below definitions are used for the "energy" control loop -->
      <define name="AUTO_THROTTLE_OF_AIRSPEED_PGAIN"          value="0" />
      <define name="AUTO_THROTTLE_OF_AIRSPEED_IGAIN"          value="0.01" />
      <define name="AUTO_PITCH_OF_AIRSPEED_PGAIN"             value="0" />
      <define name="AUTO_PITCH_OF_AIRSPEED_IGAIN"             value="0" />
      <define name="AUTO_PITCH_OF_AIRSPEED_DGAIN"             value="0" />

      <define name="ENERGY_TOT_PGAIN"                   value="0.35" />
      <define name="ENERGY_TOT_IGAIN"                   value="0.25" />
      <define name="ENERGY_DIFF_PGAIN"                  value="0.30" />
      <define name="ENERGY_DIFF_IGAIN"                  value="0.20" />
      <define name="DESIRED_ACCELERATION"               value="0.3" />
      <define name="MAX_ACCELERATION"                   value="0.5" />

      <define name="AUTO_AIRSPEED_SETPOINT"             value="15." unit="m/s"/>

      <define name="AUTO_GROUNDSPEED_SETPOINT"          value="15." unit="m/s"/>
      <define name="AUTO_GROUNDSPEED_PGAIN"             value="0."/>
      <define name="AUTO_GROUNDSPEED_IGAIN"             value="0"/>
</section>

<!--#######################################################################################-->
<!--########################   AIRCRAFT HORIZONTAL CONTROL SETUP   ########################-->
<!--#######################################################################################-->

<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
      <define name="COURSE_PGAIN"                       value="0.8"/>
<!--        <define name="COURSE_DGAIN"                       value="0.8"/> -->
        <define name="COURSE_PRE_BANK_CORRECTION"         value="1."/>

      <define name="PITCH_MAX_SETPOINT"                 value="20" unit="deg"/>
      <define name="PITCH_MIN_SETPOINT"                 value="-20" unit="deg"/>
      <define name="PITCH_PGAIN"                        value="8000."/>
      <!-- The below two definitions only for stabilization adaptive -->
      <define name="PITCH_DGAIN"                        value="6."/>
      <define name="PITCH_IGAIN"                        value="100."/>

      <define name="ROLL_MAX_SETPOINT"                  value="30" unit="deg"/>
      <define name="ROLL_SLEW"                    value="0.1"/>
      <define name="ROLL_ATTITUDE_GAIN"                 value="8000"/>
      <define name="ROLL_RATE_GAIN"                     value="500."/>

      <define name="PITCH_OF_ROLL"                      value="RadOfDeg(1.0)"/>
      <define name="ELEVATOR_OF_ROLL"                   value="1000"/>
      <define name="AILERON_OF_THROTTLE"                value="0.0"/>

      <!-- The below definitions are used only for stabilization adaptive -->
      <define name="PITCH_DGAIN"                        value="6."/>
      <define name="PITCH_IGAIN"                        value="100."/>
      <define name="ROLL_KFFA"                    value="0"/>
      <define name="ROLL_KFFD"                    value="0"/>
      <define name="PITCH_KFFA"                   value="0."/>
      <define name="PITCH_KFFD"                   value="0."/>
</section>


<!--#######################################################################################-->
<!--############################    AIRBORNE BATTERY SETUP    #############################-->
<!--#######################################################################################-->
<section name="BAT">
      <define name="MILLIAMP_AT_FULL_THROTTLE"          value="5000"/>
      <define name="BAT_CAPACITY"                       value="10000."/>
      <define name="FUEL_RESERVE_SECONDS"               value="300" unit="s"/>
      <define name="CATASTROPHIC_BAT_LEVEL"             value="8" unit="V"/>
      <define name="CRITIC_BAT_LEVEL"                   value="9.3" unit="V"/>
      <define name="LOW_BAT_LEVEL"                      value="10.5" unit="V"/>
      <define name="MAX_BAT_LEVEL"                      value="12.6" unit="V"/>
    <define name="VOLTAGE_ADC_SCALE" value="0.018864469"/> <!--  war 0.018 0.008 R1 (Bat - ADC input) = 22k, R2 (ADC input - GND) = 2.2K--->
    <define name="VOLTAGE_OFFSET" value="0" unit="V"/>
    <define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_SCALE * adc + VOLTAGE_OFFSET)"/>
 
</section>

<!--#######################################################################################-->
<!--#############################    MISCELLANEOUS SETUP    ###############################-->
<!--#######################################################################################-->

<section name="MISC">
      <define name="CLIMB_AIRSPEED"                     value="14." unit="m/s"/>
      <define name="GLIDE_AIRSPEED"                     value="14." unit="m/s"/>
      <define name="RACE_AIRSPEED"                      value="23." unit="m/s"/>
      <define name="STALL_AIRSPEED"                     value="12." unit="m/s"/>
      <define name="AIRSPEED_SETPOINT_SLEW"             value="1" unit="s"/> <!--default=1-->
      <define name="NOMINAL_AIRSPEED"                   value="16" unit="m/s"/>
        <define name="MINIMUM_AIRSPEED"                   value="14." unit="m/s"/>
        <define name="MAXIMUM_AIRSPEED"                   value="26." unit="m/s"/>
      <define name="CARROT"                             value="3." unit="s"/>
      <define name="GLIDE_RATIO"                        value="7."/>
      <define name="KILL_MODE_DISTANCE"                 value="(1.5*MAX_DIST_FROM_HOME)"/>
      <define name="CONTROL_FREQUENCY"                  value="60" unit="Hz"/>
      <define name="XBEE_INIT"                    value="\"ATPL2\rATRN1\rATTT80\r\""/>
      <define name="NO_XBEE_API_INIT"                   value="TRUE"/>
      <define name="ALT_KALMAN_ENABLED"                 value="TRUE"/>
      <define name="TRIGGER_DELAY"                      value="1."/>
      <define name="DEFAULT_CIRCLE_RADIUS"              value="120."/>
      <define name="MIN_CIRCLE_RADIUS"                  value="100."/>
      <define name="UNLOCKED_HOME_MODE"                 value="TRUE"/>
      <define name="RC_LOST_MODE"                       value="PPRZ_MODE_AUTO2"/>
</section>

<section name="AGGRESSIVE"       prefix="AGR_">
      <define name="BLEND_START"                        value="40"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
      <define name="BLEND_END"                    value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes NOT ZERO!!-->
      <define name="CLIMB_THROTTLE"                     value="1.0"/><!-- Gaz for Aggressive Climb -->
      <define name="CLIMB_PITCH"                        value="RadOfDeg(20)"/><!-- Pitch for Aggressive Climb -->
      <define name="DESCENT_THROTTLE"                   value="0.1"/><!-- Gaz for Aggressive Decent -->
      <define name="DESCENT_PITCH"                      value="RadOfDeg(-20)"/><!-- 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="NAV">
    <define name="NAV_PITCH"        value="0."/>
    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
    <define name="NAV_GROUND_SPEED_PGAIN" value="0.015"/>
    <define name="NAV_FOLLOW_PGAIN" value="-0.05"/>
  </section>

  <section name="GLS_APPROACH" prefix="APP_">
      <define name="ANGLE" value="5"/>
      <define name="INTERCEPT_AF_TOD" value="10"/>
      <define name="TARGET_SPEED" value="13"/>
  </section>

<section name="FAILSAFE" prefix="FAILSAFE_">
      <define name="DELAY_WITHOUT_GPS"                  value="1" unit="s"/>
          <define name="DEFAULT_THROTTLE"                   value="0.6" unit="%"/>
          <define name="DEFAULT_ROLL"                       value="10" unit="deg"/>
          <define name="DEFAULT_PITCH"                      value="1" unit="deg"/>
      <define name="HOME_RADIUS"                        value="100" unit="m"/>
      <define name="KILL_MODE_DISTANCE"                 value="(MAX_DIST_FROM_HOME*1.5)"/>
</section>

<section name="DATALINK" prefix="DATALINK_">
      <define name="DEVICE_TYPE"                        value="PPRZ"/>
      <define name="DEVICE_ADDRESS"                     value="...."/>
 </section>

  <section name="DIGITAL_CAMERA" prefix="DC_">
    <define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="8" unit="quarter_second"/>
    <define name="AUTOSHOOT_METER_GRID" value="100" unit="meter"/>
  </section>

  <section name="GCS">
    <define name="ALT_SHIFT_PLUS_PLUS" value="100"/>
    <define name="ALT_SHIFT_PLUS" value="10"/>
    <define name="ALT_SHIFT_MINUS" value="-10"/>
    <define name="SPEECH_NAME" value="Cessna"/>
  </section>

  <section name="SIMU">
    <define name="WEIGHT" value ="1."/>
    <define name="YAW_RESPONSE_FACTOR" value =".9"/>   <!--default 1.-->
    <define name="PITCH_RESPONSE_FACTOR" value ="1."/> <!--default 1.-->
    <define name="ROLL_RESPONSE_FACTOR" value ="15."/> <!--default 15-->
  </section>

 <makefile>
 </makefile>
</airframe>
 





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