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Oneloop Controller Pull Request (#3150)
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conf/airframes/tudelft/bebop_one_indi_generated_ekf2.xml
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|---|---|---|
| @@ -0,0 +1,212 @@ | ||
| <!DOCTYPE airframe SYSTEM "../airframe.dtd"> | ||
|
|
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| <airframe name="bebop_one_indi_ekf2"> | ||
| <description> bebop with a oneloop ANDI and backup INDI controller and EKF2 | ||
| </description> | ||
|
|
||
| <firmware name="rotorcraft"> | ||
| <autopilot name="rotorcraft_oneloop_with_backup.xml"/> | ||
| <target name="ap" board="bebop"> | ||
| <define name="RADIO_TH_HOLD" value="0"/> | ||
| </target> | ||
|
|
||
| <target name="nps" board="pc"> | ||
| <module name="fdm" type="jsbsim"/> | ||
| <module name="udp"/> | ||
| </target> | ||
|
|
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| <module name="telemetry" type="transparent_udp"/> | ||
| <module name="radio_control" type="datalink"/> | ||
| <module name="actuators" type="bebop"/> | ||
| <module name="imu" type="bebop"/> | ||
|
|
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| <!-- <module name="gps" type="furuno"/> --> | ||
| <module name="gps" type="datalink"/> | ||
|
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| <module name="oneloop" type="andi"> | ||
| <configure name="ANDI_NUM_ACT" value="4"/> | ||
| <configure name="ANDI_NUM_VIRTUAL_ACT" value="2"/> | ||
| <configure name="ANDI_OUTPUTS" value="6"/> | ||
| </module> | ||
|
|
||
| <module name="stabilization" type="indi" > | ||
| <configure name="INDI_NUM_ACT" value="4"/> | ||
| </module> | ||
|
|
||
| <module name="ins" type="ekf2"> | ||
| <define name="INS_EKF2_OPTITRACK" value="true"/> | ||
| </module> | ||
| <module name="nav_hybrid"/> | ||
|
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| <module name="guidance" type="indi"> | ||
| <define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/> | ||
| <define name="GUIDANCE_INDI_THRUST_DYNAMICS" value="0.1"/> | ||
| <define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/> | ||
| </module> | ||
|
|
||
| <module name="geo_mag"/> | ||
| <module name="air_data"/> | ||
|
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| <module name="wls"> | ||
| <define name="WLS_N_U" value = "6"/> | ||
| <define name="WLS_N_V" value = "6"/> | ||
| </module> | ||
|
|
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| <module name="logger_file"> | ||
| <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000/"/> | ||
| </module> | ||
| </firmware> | ||
|
|
||
| <commands> | ||
| <axis name="PITCH" failsafe_value="0"/> | ||
| <axis name="ROLL" failsafe_value="0"/> | ||
| <axis name="YAW" failsafe_value="0"/> | ||
| <axis name="THRUST" failsafe_value="4000"/> | ||
| </commands> | ||
|
|
||
| <servos driver="Default"> | ||
| <servo name="TOP_LEFT" no="0" min="3000" neutral="3000" max="12000"/> | ||
| <servo name="TOP_RIGHT" no="1" min="3000" neutral="3000" max="12000"/> | ||
| <servo name="BOTTOM_RIGHT" no="2" min="3000" neutral="3000" max="12000"/> | ||
| <servo name="BOTTOM_LEFT" no="3" min="3000" neutral="3000" max="12000"/> | ||
| </servos> | ||
|
|
||
| <command_laws> | ||
| <let VAR="th_hold" value="!autopilot_get_motors_on()"/> | ||
| <set value="($th_hold? -9600 : actuators_pprz[0])" SERVO="TOP_LEFT"/> | ||
| <set value="($th_hold? -9600 : actuators_pprz[1])" SERVO="TOP_RIGHT"/> | ||
| <set value="($th_hold? -9600 : actuators_pprz[2])" SERVO="BOTTOM_RIGHT"/> | ||
| <set value="($th_hold? -9600 : actuators_pprz[3])" SERVO="BOTTOM_LEFT"/> | ||
| </command_laws> | ||
|
|
||
| <section name="MISC"> | ||
| <define name="AUTOPILOT_IN_FLIGHT_MIN_THRUST" value = "300"/> | ||
| <define name="THRESHOLD_GROUND_DETECT" value = "40"/> | ||
| <define name="AUTOPILOT_ARMING_DELAY" value = "2"/> | ||
| <define name="GUIDANCE_INDI_MAX_AIRSPEED" value = "5.0f"/> <!--remove once hybrid nav is made not dependent on guidance indi hybrid--> | ||
| <define name="GUIDANCE_INDI_NAV_SPEED_MARGIN" value = "0.0"/> <!--remove once hybrid nav is made not dependent on guidance indi hybrid--> | ||
| </section> | ||
|
|
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| <section name="AIR_DATA" prefix="AIR_DATA_"> | ||
| <define name="CALC_AIRSPEED" value="FALSE"/> | ||
| <define name="CALC_TAS_FACTOR" value="FALSE"/> | ||
| <define name="CALC_AMSL_BARO" value="TRUE"/> | ||
| </section> | ||
|
|
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| <section name="IMU" prefix="IMU_"> | ||
| <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/> | ||
| <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/> | ||
| <define name="BODY_TO_IMU_PSI" value="0." unit="deg"/> | ||
| <define name="ACCEL_CALIB" value="{{.abi_id=1, .calibrated={.neutral=true, .scale=true},.neutral={171,25,-326}, .scale={{22001,54059,59579},{8998,22092,24933}}}}"/> | ||
| <define name="IMU_MAG_CALIB" value="{{.abi_id=1, .calibrated={.neutral=true, .scale=true},.neutral={-9,8,121}, .scale={{1143,47395,48383},{152,5978,5811}}}}"/> | ||
| </section> | ||
|
|
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| <section name="INS" prefix="INS_"> | ||
| <define name="SONAR_MAX_RANGE" value="2.2"/> | ||
| </section> | ||
| <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_"> | ||
| <define name="SP_MAX_PHI" value="45" unit="deg"/> | ||
| <define name="SP_MAX_THETA" value="45" unit="deg"/> | ||
| <define name="SP_MAX_R" value="400" unit="deg/s"/> | ||
| <define name="DEADBAND_A" value="0"/> | ||
| <define name="DEADBAND_E" value="0"/> | ||
| <define name="DEADBAND_R" value="50"/> | ||
| </section> | ||
|
|
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| <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_"> | ||
| <define name="G1_ROLL" value="{20 , -20, -20 , 20 }"/> | ||
| <define name="G1_PITCH" value="{14 , 14, -14 , -14 }"/> | ||
| <define name="G1_YAW" value="{-1, 1, -1, 1}"/> | ||
| <define name="G1_THRUST" value="{-.4, -.4, -.4, -.4}"/> | ||
| <define name="G2" value="{-61.2093, 65.3670, -65.7419, 65.4516}"/> | ||
| <define name="REF_ERR_P" value="600.0"/> | ||
| <define name="REF_ERR_Q" value="600.0"/> | ||
| <define name="REF_ERR_R" value="600.0"/> | ||
| <define name="REF_RATE_P" value="28.0"/> | ||
| <define name="REF_RATE_Q" value="28.0"/> | ||
| <define name="REF_RATE_R" value="28.0"/> | ||
| <define name="ESTIMATION_FILT_CUTOFF" value="4.0"/> | ||
| <define name="FILT_CUTOFF" value="5.0"/> | ||
| <define name="ACT_DYN" value="{0.1, 0.1, 0.1, 0.1}"/> | ||
| <define name="USE_ADAPTIVE" value="TRUE"/> | ||
| <define name="ADAPTIVE_MU" value="0.0001"/> | ||
| <define name="WLS_PRIORITIES" value="{1000, 1000, 1, 100}"/> | ||
| </section> | ||
|
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| <section name="GUIDANCE_V" prefix="GUIDANCE_V_"> | ||
| <define name="HOVER_KP" value="283"/> | ||
| <define name="HOVER_KD" value="82"/> | ||
| <define name="HOVER_KI" value="20"/> | ||
| <define name="NOMINAL_HOVER_THROTTLE" value="0.655"/> | ||
| <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/> | ||
| </section> | ||
|
|
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| <section name="GUIDANCE_H" prefix="GUIDANCE_H_"> | ||
| <define name="MAX_BANK" value="20" unit="deg"/> | ||
| <define name="REF_MAX_SPEED" value="2" unit="m/s"/> | ||
| <define name="PGAIN" value="79"/> | ||
| <define name="DGAIN" value="100"/> | ||
| <define name="IGAIN" value="30"/> | ||
| </section> | ||
|
|
||
| <section PREFIX="ONELOOP_ANDI_" name="ONELOOP_ANDI"> | ||
| <define name = "G1_ROLL" value = "{20.0f , -20.0f, -20.0f, 20.0f , 0.0f, 0.0f }"/> | ||
| <define name = "G1_PITCH" value = "{10.0f , 10.0f , -10.0f, -10.0f, 0.0f, 0.0f }"/> | ||
| <define name = "G1_YAW" value = "{-1.0f , 1.0f , -1.0f , 1.0f , 0.0f, 0.0f }"/> | ||
| <define name = "G1_THRUST" value = "{-.4f , -.4f , -.4f , -.4f , 0.0f, 0.0f }"/> | ||
| <define name = "G1_ZERO" value = "{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f }"/> | ||
| <define name = "G2" value = "{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}"/> | ||
| <define name = "MAX_R" value = "120.0" unit="deg/s"/> | ||
| <define name = "FILT_CUTOFF" value = "1.0" /> | ||
| <define name = "FILT_CUTOFF_ACC" value = "1.0" /> | ||
| <define name = "FILT_CUTOFF_VEL" value = "10.0"/> | ||
| <define name = "FILT_CUTOFF_POS" value = "10.0"/> | ||
| <define name = "ESTIMATION_FILT_CUTOFF" value = "3.2" /> | ||
| <define name = "FILT_CUTOFF_P" value = "5.0" /> | ||
| <define name = "FILT_CUTOFF_Q" value = "5.0" /> | ||
| <define name = "FILT_CUTOFF_R" value = "5.0" /> | ||
| <define name = "FILT_CUTOFF_RDOT" value = "0.5" /> | ||
| <define name = "FILTER_YAW_RATE" value = "TRUE"/> | ||
| <define name = "ACT_DYN" value = "{50.0f, 50.0f, 50.0f, 50.0f, 0.0f,0.0f}" /> | ||
| <define name = "ACT_IS_SERVO" value = "{0, 0, 0, 0, 0, 0}" /> | ||
| <define name = "ACT_MAX" value = "{9600.0f, 9600.0f, 9600.0f, 9600.0f, M_PI_4, M_PI_4}"/> | ||
| <define name = "ACT_MIN" value = "{0.0f , 0.0f, 0.0f, 0.0f, -M_PI_4, -M_PI_4}"/> | ||
| <define name = "ACT_MAX_NORM" value = "{1.0f , 1.0f, 1.0f, 1.0f, 1.0f, 1.0f}"/> | ||
| <define name = "ACT_MIN_NORM" value = "{0.0f , 0.0f, 0.0f, 0.0f, -1.0f, -1.0f}"/> | ||
| <define name = "DEBUG_MODE" value = "FALSE"/> | ||
| <define name = "AC_HAS_PUSHER" value = "FALSE"/> | ||
| <define name = "WV" value = "{1.0f, 1.0f, 1.0f, 1000.0f, 1000.0f, 100.0f}"/> | ||
| <define name = "WU" value = "{3.0f, 3.0f, 3.0f, 3.0f, 2.0f, 2.0f}"/> | ||
| <define name = "U_PREF" value = "{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}"/> | ||
| <define name = "MAX_AIRSPEED" value = "5.0f"/> | ||
| </section> | ||
|
|
||
| <section name="NAVIGATION" prefix="NAV_"> | ||
| <define name="CLIMB_VSPEED" value="2.5"/> | ||
| <define name="DESCEND_VSPEED" value="-1.0"/> | ||
| </section> | ||
|
|
||
| <section name="SIMULATOR" prefix="NPS_"> | ||
| <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/> | ||
| <define name="JSBSIM_MODEL" value="bebop" type="string"/> | ||
| <define name="COMMANDS_NB" value="4"/> | ||
| <define name="NO_MOTOR_MIXING" value="TRUE"/> | ||
| </section> | ||
|
|
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| <section name="AUTOPILOT"> | ||
| <define name="MODE_STARTUP" value="AP_MODE_ATTITUDE_DIRECT"/> | ||
| <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/> | ||
| <define name="MODE_AUTO1" value="AP_MODE_MODULE"/> | ||
| <define name="MODE_AUTO2" value="AP_MODE_NAV"/> | ||
| <define name="NO_RC_THRUST_LIMIT" value="TRUE"/> | ||
| </section> | ||
|
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| <section name="BAT"> | ||
| <define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/> | ||
| <define name="CATASTROPHIC_BAT_LEVEL" value="9.9" unit="V"/> | ||
| <define name="CRITIC_BAT_LEVEL" value="11.0" unit="V"/> | ||
| <define name="LOW_BAT_LEVEL" value="11.1" unit="V"/> | ||
| <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/> | ||
| </section> | ||
|
|
||
| </airframe> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,167 @@ | ||
| <!DOCTYPE airframe SYSTEM "../airframe.dtd"> | ||
|
|
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| <airframe name="bebop_oneloop_ekf2"> | ||
| <description> bebop with a oneloop ANDI controller and EKF2 | ||
| </description> | ||
|
|
||
| <firmware name="rotorcraft"> | ||
| <target name="ap" board="bebop"> | ||
| <define name="RADIO_TH_HOLD" value="0"/> | ||
| </target> | ||
|
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| <target name="nps" board="pc"> | ||
| <module name="fdm" type="jsbsim"/> | ||
| <module name="udp"/> | ||
| </target> | ||
|
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| <module name="telemetry" type="transparent_udp"/> | ||
| <module name="radio_control" type="datalink"/> | ||
| <module name="actuators" type="bebop"/> | ||
| <module name="imu" type="bebop"/> | ||
|
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| <module name="gps" type="furuno"/> | ||
| <!-- <module name="gps" type="datalink"/> --> | ||
|
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| <module name="stabilization" type="oneloop" > | ||
| <configure name="INDI_NUM_ACT" value="4"/> | ||
| </module> | ||
|
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| <module name="ins" type="ekf2"> | ||
| <!-- <define name="INS_EKF2_OPTITRACK" value="true"/> --> | ||
| </module> | ||
|
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| <module name="guidance" type="oneloop"/> | ||
| <module name="nav_hybrid"/> | ||
|
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| <module name="oneloop" type="andi"> | ||
| <configure name="ANDI_NUM_ACT" value="4"/> | ||
| <configure name="ANDI_NUM_VIRTUAL_ACT" value="2"/> | ||
| <configure name="ANDI_OUTPUTS" value="6"/> | ||
| </module> | ||
|
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| <module name="geo_mag"/> | ||
| <module name="air_data"/> | ||
|
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| <module name="wls"> | ||
| <define name="WLS_N_U" value = "6"/> | ||
| <define name="WLS_N_V" value = "6"/> | ||
| </module> | ||
|
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| <module name="logger_file"> | ||
| <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000/"/> | ||
| </module> | ||
| </firmware> | ||
|
|
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| <commands> | ||
| <axis name="PITCH" failsafe_value="0"/> | ||
| <axis name="ROLL" failsafe_value="0"/> | ||
| <axis name="YAW" failsafe_value="0"/> | ||
| <axis name="THRUST" failsafe_value="4000"/> | ||
| </commands> | ||
|
|
||
| <servos driver="Default"> | ||
| <servo name="TOP_LEFT" no="0" min="3000" neutral="3000" max="12000"/> | ||
| <servo name="TOP_RIGHT" no="1" min="3000" neutral="3000" max="12000"/> | ||
| <servo name="BOTTOM_RIGHT" no="2" min="3000" neutral="3000" max="12000"/> | ||
| <servo name="BOTTOM_LEFT" no="3" min="3000" neutral="3000" max="12000"/> | ||
| </servos> | ||
|
|
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| <command_laws> | ||
| <let VAR="th_hold" value="!autopilot_get_motors_on()"/> | ||
| <set value="($th_hold? -9600 : actuators_pprz[0])" SERVO="TOP_LEFT"/> | ||
| <set value="($th_hold? -9600 : actuators_pprz[1])" SERVO="TOP_RIGHT"/> | ||
| <set value="($th_hold? -9600 : actuators_pprz[2])" SERVO="BOTTOM_RIGHT"/> | ||
| <set value="($th_hold? -9600 : actuators_pprz[3])" SERVO="BOTTOM_LEFT"/> | ||
| </command_laws> | ||
|
|
||
| <section name="MISC"> | ||
| <define name="AUTOPILOT_IN_FLIGHT_MIN_THRUST" value = "300"/> | ||
| <define name="THRESHOLD_GROUND_DETECT" value = "40"/> | ||
| <define name="AUTOPILOT_ARMING_DELAY" value = "2"/> | ||
| <define name="GUIDANCE_INDI_MAX_AIRSPEED" value = "5.0f"/> <!--remove once hybrid nav is made not dependent on guidance indi hybrid--> | ||
| <define name="GUIDANCE_INDI_NAV_SPEED_MARGIN" value = "0.0"/> <!--remove once hybrid nav is made not dependent on guidance indi hybrid--> | ||
| <define NAME="STABILIZATION_ATTITUDE_SP_MAX_PHI" value = "45." UNIT="deg" /> | ||
| <define NAME="STABILIZATION_ATTITUDE_SP_MAX_THETA" value = "45." UNIT="deg" /> | ||
| <define NAME="STABILIZATION_ATTITUDE_SP_MAX_R" value = "90." UNIT="deg/s" /> | ||
| <define NAME="STABILIZATION_ATTITUDE_DEADBAND_R" value = "200" /> | ||
| </section> | ||
|
|
||
| <section name="AIR_DATA" prefix="AIR_DATA_"> | ||
| <define name="CALC_AIRSPEED" value="FALSE"/> | ||
| <define name="CALC_TAS_FACTOR" value="FALSE"/> | ||
| <define name="CALC_AMSL_BARO" value="TRUE"/> | ||
| </section> | ||
|
|
||
| <section name="IMU" prefix="IMU_"> | ||
| <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/> | ||
| <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/> | ||
| <define name="BODY_TO_IMU_PSI" value="0." unit="deg"/> | ||
| <define name="ACCEL_CALIB" value="{{.abi_id=1, .calibrated={.neutral=true, .scale=true},.neutral={171,25,-326}, .scale={{22001,54059,59579},{8998,22092,24933}}}}"/> | ||
| <define name="IMU_MAG_CALIB" value="{{.abi_id=1, .calibrated={.neutral=true, .scale=true},.neutral={-9,8,121}, .scale={{1143,47395,48383},{152,5978,5811}}}}"/> | ||
| </section> | ||
|
|
||
| <section name="INS" prefix="INS_"> | ||
| <define name="SONAR_MAX_RANGE" value="2.2"/> | ||
| </section> | ||
|
|
||
| <section PREFIX="ONELOOP_ANDI_" name="ONELOOP_ANDI"> | ||
| <define name = "G1_ROLL" value = "{20.0f , -20.0f, -20.0f, 20.0f , 0.0f, 0.0f }"/> | ||
| <define name = "G1_PITCH" value = "{10.0f , 10.0f , -10.0f, -10.0f, 0.0f, 0.0f }"/> | ||
| <define name = "G1_YAW" value = "{-1.0f , 1.0f , -1.0f , 1.0f , 0.0f, 0.0f }"/> | ||
| <define name = "G1_THRUST" value = "{-.4f , -.4f , -.4f , -.4f , 0.0f, 0.0f }"/> | ||
| <define name = "G1_ZERO" value = "{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f }"/> | ||
| <define name = "G2" value = "{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}"/> | ||
| <define name = "MAX_R" value = "120.0" unit="deg/s"/> | ||
| <define name = "FILT_CUTOFF" value = "1.0" /> | ||
| <define name = "FILT_CUTOFF_ACC" value = "1.0" /> | ||
| <define name = "FILT_CUTOFF_VEL" value = "10.0"/> | ||
| <define name = "FILT_CUTOFF_POS" value = "10.0"/> | ||
| <define name = "ESTIMATION_FILT_CUTOFF" value = "3.2" /> | ||
| <define name = "FILT_CUTOFF_P" value = "5.0" /> | ||
| <define name = "FILT_CUTOFF_Q" value = "5.0" /> | ||
| <define name = "FILT_CUTOFF_R" value = "5.0" /> | ||
| <define name = "FILT_CUTOFF_RDOT" value = "0.5" /> | ||
| <define name = "FILTER_YAW_RATE" value = "TRUE"/> | ||
| <define name = "ACT_DYN" value = "{50.0f, 50.0f, 50.0f, 50.0f, 0.0f,0.0f}" /> | ||
| <define name = "ACT_IS_SERVO" value = "{0, 0, 0, 0, 0, 0}" /> | ||
| <define name = "ACT_MAX" value = "{9600.0f, 9600.0f, 9600.0f, 9600.0f, M_PI_4, M_PI_4}"/> | ||
| <define name = "ACT_MIN" value = "{0.0f , 0.0f, 0.0f, 0.0f, -M_PI_4, -M_PI_4}"/> | ||
| <define name = "ACT_MAX_NORM" value = "{1.0f , 1.0f, 1.0f, 1.0f, 1.0f, 1.0f}"/> | ||
| <define name = "ACT_MIN_NORM" value = "{0.0f , 0.0f, 0.0f, 0.0f, -1.0f, -1.0f}"/> | ||
| <define name = "DEBUG_MODE" value = "FALSE"/> | ||
| <define name = "AC_HAS_PUSHER" value = "FALSE"/> | ||
| <define name = "WV" value = "{1.0f, 1.0f, 1.0f, 1000.0f, 1000.0f, 100.0f}"/> | ||
| <define name = "WU" value = "{3.0f, 3.0f, 3.0f, 3.0f, 2.0f, 2.0f}"/> | ||
| <define name = "U_PREF" value = "{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}"/> | ||
| <define name = "MAX_AIRSPEED" value = "5.0f"/> | ||
| </section> | ||
|
|
||
| <section name="NAVIGATION" prefix="NAV_"> | ||
| <define name="CLIMB_VSPEED" value="2.5"/> | ||
| <define name="DESCEND_VSPEED" value="-1.0"/> | ||
| </section> | ||
|
|
||
| <section name="SIMULATOR" prefix="NPS_"> | ||
| <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/> | ||
| <define name="JSBSIM_MODEL" value="bebop" type="string"/> | ||
| <define name="COMMANDS_NB" value="4"/> | ||
| <define name="NO_MOTOR_MIXING" value="TRUE"/> | ||
| </section> | ||
|
|
||
| <section name="AUTOPILOT"> | ||
| <define name="MODE_STARTUP" value="AP_MODE_ATTITUDE_DIRECT"/> | ||
| <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/> | ||
| <define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/> | ||
| <define name="MODE_AUTO2" value="AP_MODE_NAV"/> | ||
| <define name="NO_RC_THRUST_LIMIT" value="TRUE"/> | ||
| </section> | ||
|
|
||
| <section name="BAT"> | ||
| <define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/> | ||
| <define name="CATASTROPHIC_BAT_LEVEL" value="9.9" unit="V"/> | ||
| <define name="CRITIC_BAT_LEVEL" value="11.0" unit="V"/> | ||
| <define name="LOW_BAT_LEVEL" value="11.1" unit="V"/> | ||
| <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/> | ||
| </section> | ||
|
|
||
| </airframe> |
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