Finished restructuring the configuration files. Flight and Sim models…

… match except for navigation. Ready to start testing the new navigation in HIL
gottlieb · Apr 23, 2010 · 9b43793 · 9b43793
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commit 9b43793
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Showing 13 changed files with 12,577 additions and 13,809 deletions.
diff --git a/DevBoard.mdl b/DevBoard.mdl
diff --git a/HILSim/HILModelManual.mdl → HILSim/HILModel.mdl b/HILSim/HILModelManual.mdl → HILSim/HILModel.mdl
diff --git a/HILSim/hilInit.m b/HILSim/hilInit.m
@@ -1,70 +1,22 @@
 %% Set up the values for the HIL Simulation
-HIL_K = 3;
-
-
-%% Run the standard setup files
-run ../InnerOuterLoop/Rascal_Var.m
-run ../InnerOuterLoop/innerOuterInit.m
-run ../InnerOuterLoop/failuresInit.m
 
-%% Set up the reverse lookup values for PWM to radians
-% Rudder
-% The Values are as follows:
-% -20 -> 2700
-% -10 -> 3250
-% -5  -> 3475
-% 0   -> 3750
-% +5  -> 3950
-% +10 -> 4200
-% +20 -> 4725
+% Do not change this variable unless you understand what you are doing.
+% This sets the sampling ratio for UDP send/receive data.
 
-rad = [-20 -10 -5 0 5 10 20]*pi/180;
-pwm = [2700 3250 3475 3750 3950 4200 4725];
-P =  polyfit(pwm,rad,1);
-mPWMdr = P(1);
-bPWMdr = P(2);
-
-% Aileron
-% The Values are as follows:
-% -20 -> 2450
-% -10 -> 3150
-% -5  -> 3420
-% 0   -> 3700
-% +5  -> 3975
-% +10 -> 4250
-% +20 -> 4900
-
-rad = [-20 -10 -5 0 5 10 20]*pi/180;
-pwm = [2450 3150 3420 3700 3975 4250 4900];
-P =  polyfit(pwm, rad,1);
-mPWMda = P(1);
-bPWMda = P(2);
+HIL_K = 3;
 
-% Elevator
-% The Values are as follows:
-% -15 -> 2750
-% -10 -> 3135
-% -5  -> 3425
-% 0   -> 3700
-% +5  -> 4125
-% +10 -> 4450
-% +15 -> 4850
 
-rad = [-15 -10 -5 0 5 10 15]*pi/180;
-pwm = [2750 3135 3425 3700 4125 4450 4850];
-P =  polyfit(pwm,rad,1);
-mPWMde = P(1);
-bPWMde = P(2);
+%% Run the standard setup files
+run ..\apConfiguration\Rascal_Var.m
 
-% Throttle
-% 0  ->  6352/2
-% 1  ->  8900/2
+% ===== Replace this one with your location file ====
+run ..\apConfiguration\gsLocation.m
+% ===================================================
 
-rad = [0 1];
-pwm = [3176 4450];
-P =  polyfit(pwm,rad,1);
-mPWMdt = P(1);
-bPWMdt = P(2);
+run ..\apConfiguration\failuresInit.m
+run ..\apConfiguration\limits.m
+run ..\apConfiguration\pwmConversions.m
+run ..\apConfiguration\baroInit.m
 
 %% Override RascalVar values
 Pos_0   = [200; 350; 350]';     % Initial position vector (m)