[conf] updated example conf stuff

conf/airframes/Poine/h_hex.xml

@@ -1,15 +1,6 @@
 <!-- this is a custom hexa Lisa/L#3 and mikrokopter controllers -->
 <airframe name="booz2_a6">
 
-  <servos min="0" neutral="0" max="0xff">
-    <servo name="BACK_RIGHT"   no="0" min="0" neutral="0" max="255"/>
-    <servo name="BACK_LEFT"    no="1" min="0" neutral="0" max="255"/>
-    <servo name="CENTER_RIGHT" no="2" min="0" neutral="0" max="255"/>
-    <servo name="CENTER_LEFT"  no="3" min="0" neutral="0" max="255"/>
-    <servo name="FRONT_RIGHT"  no="4" min="0" neutral="0" max="255"/>
-    <servo name="FRONT_LEFT"   no="5" min="0" neutral="0" max="255"/>
-  </servos>
-
   <commands>
     <axis name="PITCH"  failsafe_value="0"/>
     <axis name="ROLL"   failsafe_value="0"/>
@@ -153,7 +144,6 @@
    <define name="RC_CLIMB_COEF" value ="163"/>
    <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
    <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
-   <define name="INV_M" value ="0.2"/>
   </section>
 
 

conf/airframes/quadrotor_lisa_m_2_pwm_example.xml

@@ -22,14 +22,26 @@
     <subsystem name="ahrs"          type="int_cmpl_quat"/>
   </firmware>
 
+  <servos min="0" neutral="0" max="0xff">
+    <servo name="FRONT"   no="0" min="1000" neutral="1000" max="2000"/>
+    <servo name="BACK"    no="1" min="1000" neutral="1000" max="2000"/>
+    <servo name="RIGHT"   no="2" min="1000" neutral="1000" max="2000"/>
+    <servo name="LEFT"    no="3" min="1000" neutral="1000" max="2000"/>
+  </servos>
+
   <commands>
     <axis name="ROLL"   failsafe_value="0"/>
     <axis name="PITCH"  failsafe_value="0"/>
     <axis name="YAW"    failsafe_value="0"/>
     <axis name="THRUST" failsafe_value="0"/>
   </commands>
 
-  <!-- for the sim -->
+  <command_laws>
+    <!-- command_laws is needed for pwm_supervision -->
+    <!-- but can be empty if no additional servos are used -->
+  </command_laws>
+
+  <!-- only for the nps sim -->
   <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
     <define name="NB" value="4"/>
     <!-- FRONT, BACK, RIGHT, LEFT -->
@@ -45,7 +57,7 @@
     <define name="TRIM_R" value="0"/>
     <define name="NB_MOTOR" value="4"/>
     <define name="SCALE" value="256"/>
-    <!-- front/back turning CW, left/right CCW -->
+    <!-- front/back turning CW, right/left CCW -->
     <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 }"/>
@@ -57,6 +69,7 @@
     <define name="ACCEL_Y_NEUTRAL" value="11"/>
     <define name="ACCEL_Z_NEUTRAL" value="-25"/>
 
+    <!-- replace this with your own calibration -->
     <define name="MAG_X_NEUTRAL" value="-152"/>
     <define name="MAG_Y_NEUTRAL" value="-51"/>
     <define name="MAG_Z_NEUTRAL" value="10"/>

conf/conf.xml.example

@@ -10,7 +10,7 @@
     radio="radios/cockpitSX.xml"
     telemetry="telemetry/default_rotorcraft.xml"
     flight_plan="flight_plans/dummy.xml"
-    settings="settings/settings_booz2.xml settings/settings_booz2_ahrs_cmpl.xml"
+    settings="settings/rotorcraft_basic.xml"
     gui_color="white"
     />
 
@@ -22,17 +22,17 @@
     radio="radios/cockpitSX.xml"
     telemetry="telemetry/default_rotorcraft.xml"
     flight_plan="flight_plans/dummy.xml"
-    settings="settings/settings_booz2.xml"
+    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
     gui_color="white"
     />
   <aircraft
-    name="LISA_ASCTEC_PIOTR"
-    ac_id="161"
-    airframe="airframes/esden/lisa_asctec.xml"
+    name="Quad_LisaM"
+    ac_id="162"
+    airframe="airframes/quadrotor_lisa_m_2_pwm_example.xml"
     radio="radios/cockpitSX.xml"
     telemetry="telemetry/default_rotorcraft.xml"
-    flight_plan="flight_plans/dummy.xml"
-    settings="settings/settings_booz2.xml settings/settings_booz2_ahrs_cmpl.xml"
+    flight_plan="flight_plans/rotorcraft_basic.xml"
+    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml"
     gui_color="white"
     />
 
@@ -44,7 +44,7 @@
     radio="radios/cockpitMM.xml"
     telemetry="telemetry/default_fixedwing.xml"
     flight_plan="flight_plans/basic.xml"
-    settings="settings/basic_infrared.xml"
+    settings="settings/fixedwing_basic.xml settings/estimation/infrared.xml"
     gui_color="#6293ba"
     />
   <aircraft
@@ -54,7 +54,7 @@
     radio="radios/cockpitSX.xml"
     telemetry="telemetry/default_fixedwing_imu.xml"
     flight_plan="flight_plans/versatile.xml"
-    settings="settings/tuning_ins.xml"
+    settings="settings/fixedwing_tuning.xml settings/estimation/ins_neutrals.xml"
     gui_color="blue"
     />
   <aircraft
@@ -64,7 +64,7 @@
     radio="radios/cockpitMM.xml"
     telemetry="telemetry/default_fixedwing.xml"
     flight_plan="flight_plans/versatile.xml"
-    settings="settings/tuning.xml settings/infrared.xml"
+    settings="settings/fixedwing_tuning.xml settings/estimation/infrared.xml"
     gui_color="#ba6293"
     />
   <aircraft
@@ -74,7 +74,7 @@
     radio="radios/cockpitSX.xml"
     telemetry="telemetry/default_fixedwing.xml"
     flight_plan="flight_plans/versatile.xml"
-    settings="settings/tuning.xml settings/infrared.xml"
+    settings="settings/fixedwing_tuning.xml settings/estimation/infrared.xml"
     gui_color="red"
     />
 
@@ -86,7 +86,7 @@
     radio="radios/cockpitSX.xml"
     telemetry="telemetry/default_rotorcraft.xml"
     flight_plan="flight_plans/dummy.xml"
-    settings="settings/settings_booz2.xml"
+    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
     gui_color="white"
     />
   <aircraft
@@ -96,7 +96,7 @@
     radio="radios/cockpitSX.xml"
     telemetry="telemetry/default_rotorcraft.xml"
     flight_plan="flight_plans/dummy.xml"
-    settings="settings/settings_booz2.xml"
+    settings="settings/rotorcraft_basic.xml"
     gui_color="white"
     />
 </conf>