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ard2_base_vision.xml
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ard2_base_vision.xml
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<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
<airframe name="ardrone2_vision">
<firmware name="rotorcraft">
<define name="DEBUG_VFF_EXTENDED"/>
<configure name="HOST" value="192.168.1.$(AC_ID)"/>
<target name="ap" board="ardrone2">
<define name="USE_SONAR"/>
<define name="USE_BARO_MEDIAN_FILTER"/>
<define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
<subsystem name="telemetry" type="transparent_udp"/>
<subsystem name="radio_control" type="datalink"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
</target>
<!-- Subsystem section -->
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="ardrone2"/>
<subsystem name="imu" type="ardrone2"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<!-- AHRS + INS for indoor or outdoor -->
<!--subsystem name="ahrs" type="int_cmpl_euler"/>
<subsystem name="ins" type="extended"/-->
<!-- INS for outdoor only -->
<subsystem name="ins" type="float_invariant"/>
</firmware>
<modules main_freq="512">
<!--load name="gps_ubx_ucenter.xml"/-->
<load name="agl_dist.xml">
<define name="USE_SONAR"/>
</load>
<load name="video_thread.xml">
<define name="VIDEO_THREAD_CAMERA" value="front_camera"/>
</load>
<load name="video_rtp_stream.xml">
<define name="VIDEO_SOCK_OUT_OFFSET" value="$(AC_ID)"/>
<define name="VIDEO_DOWNSIZE_FACTOR" value="2"/>
<define name="VIDEO_QUALITY_FACTOR" value="80"/>
<define name="VIDEO_FPS" value="1"/>
</load>
<load name="rotorcraft_cam.xml"/>
</modules>
<!-- include common control -->
<include href="conf/airframes/ENAC/quadrotor/ard2_base_control.xml"/>
<!-- include arframe calibration -->
<include href="conf/airframes/ENAC/quadrotor/ard2_$AC_ID.xml"/>
<!-- local magnetic field -->
<!-- http://paparazzi.enac.fr/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
<section name="AHRS" prefix="AHRS_">
<!-- Toulouse -->
<!--define name="H_X" value="0.513081"/>
<define name="H_Y" value="-0.00242783"/>
<define name="H_Z" value="0.858336"/-->
<!-- Delft -->
<!--define name="H_X" value="0.3892503"/>
<define name="H_Y" value="0.0017972"/>
<define name="H_Z" value="0.9211303"/ -->
</section>
<section name="INS" prefix="INS_">
<!-- Toulouse -->
<define name="H_X" value="0.513081"/>
<define name="H_Y" value="-0.00242783"/>
<define name="H_Z" value="0.858336"/>
<!-- Delft -->
<!--define name="H_X" value="0.387766"/>
<define name="H_Y" value="0.00648212"/>
<define name="H_Z" value="0.921725"/ -->
<!-- trust more the baro over the gps alt -->
<define name="INV_NXZ" value="0.3"/>
<define name="INV_NH" value="2.0"/>
</section>
<section name="GCS">
<define name="ALT_SHIFT_PLUS_PLUS" value="5"/>
<define name="ALT_SHIFT_PLUS" value="1"/>
<define name="ALT_SHIFT_MINUS" value="-1"/>
</section>
</airframe>