CAUTION: changed the sign of the final roll command

you will need to update your command_laws section and/or your servos section just like in the changed examples
paparazzi · Mar 20, 2012 · de5b966 · de5b966
1 parent 596fee5
commit de5b966
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Showing 13 changed files with 30 additions and 30 deletions.
diff --git a/conf/airframes/delta_wing_minimal_example.xml b/conf/airframes/delta_wing_minimal_example.xml
@@ -57,8 +57,8 @@
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
     <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="MOTOR"           value="@THROTTLE"/>
-    <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
-    <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
+    <set servo="AILEVON_LEFT"  value="$elevator - $aileron"/>
+    <set servo="AILEVON_RIGHT" value="$elevator + $aileron"/>
   </command_laws>
 
   <section name="AUTO1" prefix="AUTO1_">

diff --git a/conf/airframes/easy_glider_example.xml b/conf/airframes/easy_glider_example.xml
@@ -7,8 +7,8 @@
     <servo name="THROTTLE" no="0" min="1290" neutral="1290" max="1810"/>
     <servo name="ELEVATOR" no="1" min="1770" neutral="1457" max="970"/>
     <servo name="RUDDER" no="3" min="1040" neutral="1595" max="2040"/>
-    <servo name="AILERON_LEFT" no="4" min="1000" neutral="1508" max="2000"/>
-    <servo name="AILERON_RIGHT" no="5" min="1000" neutral="1527" max="2000"/>
+    <servo name="AILERON_LEFT" no="4" min="2000" neutral="1508" max="1000"/>
+    <servo name="AILERON_RIGHT" no="5" min="2000" neutral="1527" max="1000"/>
   </servos>
 
   <commands>
@@ -36,8 +36,8 @@
     <set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
 
     <let var="roll" value="@ROLL"/>
-    <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
-    <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
+    <set servo="AILERON_LEFT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
+    <set servo="AILERON_RIGHT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
   </command_laws>
 
   <section name="AUTO1" prefix="AUTO1_">

diff --git a/conf/airframes/easystar_ets_example.xml b/conf/airframes/easystar_ets_example.xml
@@ -43,7 +43,7 @@
   <servos>
     <servo name="THROTTLE"      no="0" min="1120" neutral="1120" max="1920"/>
     <servo name="ELEVATOR"      no="6" min="1100" neutral="1514" max="1900"/>
-    <servo name="RUDDER"        no="7" min="2050" neutral="1612" max="950"/>
+    <servo name="RUDDER"        no="7" min="950" neutral="1612" max="2050"/>
   </servos>
 
   <commands>

diff --git a/conf/airframes/easystar_example.xml b/conf/airframes/easystar_example.xml
@@ -36,7 +36,7 @@
   <servos>
     <servo name="THROTTLE"      no="7" min="1120" neutral="1120" max="1920"/>
     <servo name="ELEVATOR"      no="3" min="1100" neutral="1515" max="1900"/>
-    <servo name="RUDDER"        no="4" min="2050" neutral="1440" max="950"/>
+    <servo name="RUDDER"        no="4" min="950" neutral="1440" max="2050"/>
   </servos>
 
   <commands>

diff --git a/conf/airframes/example_twog_analogimu.xml b/conf/airframes/example_twog_analogimu.xml
@@ -15,7 +15,7 @@
 
   <servos>
     <servo name="THROTTLE"   no="7" min="1200" neutral="1200" max="2000"/>
-    <servo name="AILERON" no="4" min="2000" neutral="1500" max="1000"/>
+    <servo name="AILERON" no="4" min="1000" neutral="1500" max="2000"/>
     <servo name="ELEVATOR" no="3" max="2000" neutral="1500" min="1000"/>
     <servo name="CAM" no="2" max="2000" neutral="1500" min="1000"/>
     <servo name="TILT" no="6" max="2000" neutral="1501" min="1000"/>

diff --git a/conf/airframes/flixr_discovery.xml b/conf/airframes/flixr_discovery.xml
@@ -80,8 +80,8 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
   <servos>
     <servo name="MOTOR"         no="0" min="1100" neutral="1100" max="1900"/>
     <servo name="ELEVATOR"      no="2" min="1100" neutral="1500" max="1900"/>
-    <servo name="AILERON_RIGHT" no="3" min="2000" neutral="1500" max="1000"/>
-    <servo name="AILERON_LEFT"  no="4" min="2000" neutral="1500" max="1000"/>
+    <servo name="AILERON_RIGHT" no="3" min="1000" neutral="1500" max="1000"/>
+    <servo name="AILERON_LEFT"  no="4" min="1000" neutral="1500" max="2000"/>
     <servo name="RUDDER"        no="6" min="1000" neutral="1500" max="2000"/>
     <servo name="HATCH"     no="7" min="1100" neutral="1100" max="1900"/>
   </servos>
@@ -120,8 +120,8 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
     <set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
 
     <let var="roll" value="@ROLL"/>
-    <set servo="AILERON_LEFT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
-    <set servo="AILERON_RIGHT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
+    <set servo="AILERON_LEFT" value="($roll > 0 ? 1: AILERON_DIFF) * $roll"/>
+    <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
     <!--set servo="HATCH"         value="@HATCH"/-->
   </command_laws>
 

diff --git a/conf/airframes/funjet_cam_example.xml b/conf/airframes/funjet_cam_example.xml
@@ -78,8 +78,8 @@
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
     <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="MOTOR"           value="@THROTTLE"/>
-    <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
-    <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
+    <set servo="AILEVON_LEFT"  value="$elevator - $aileron"/>
+    <set servo="AILEVON_RIGHT" value="$elevator + $aileron"/>
   </command_laws>
 
   <section name="AUTO1" prefix="AUTO1_">

diff --git a/conf/airframes/funjet_example.xml b/conf/airframes/funjet_example.xml
@@ -69,8 +69,8 @@
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
     <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="MOTOR"           value="@THROTTLE"/>
-    <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
-    <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
+    <set servo="AILEVON_LEFT"  value="$elevator - $aileron"/>
+    <set servo="AILEVON_RIGHT" value="$elevator + $aileron"/>
   </command_laws>
 
   <section name="AUTO1" prefix="AUTO1_">

diff --git a/conf/airframes/mentor_tum.xml b/conf/airframes/mentor_tum.xml
@@ -52,11 +52,11 @@
   </commands>
 
   <servos>
-    <servo name="AILERON_RIGHT" no="0" min="2000" neutral="1500" max="1000"/>
+    <servo name="AILERON_RIGHT" no="0" min="1000" neutral="1500" max="2000"/>
     <servo name="ELEVATOR" no="2" min="2000" neutral="1500" max="1000"/>
     <servo name="THROTTLE" no="3" min="1000" neutral="1000" max="2000"/>
     <servo name="RUDDER" no="4" min="2000" neutral="1500" max="1000"/>
-    <servo name="AILERON_LEFT" no="6" min="2000" neutral="1500" max="1000"/>
+    <servo name="AILERON_LEFT" no="6" min="1000" neutral="1500" max="2000"/>
     <servo name="SWITCH" no="7" min="1000" neutral="1500" max="2000"/>
   </servos>
 
@@ -82,8 +82,8 @@
     <set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
 
     <let var="roll" value="@ROLL"/>
-    <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
-    <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
+    <set servo="AILERON_LEFT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
+    <set servo="AILERON_RIGHT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
   </command_laws>
 
 

diff --git a/conf/airframes/microjet_example.xml b/conf/airframes/microjet_example.xml
@@ -37,8 +37,8 @@
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
     <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="MOTOR"         value="@THROTTLE"/>
-    <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
-    <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
+    <set servo="AILEVON_LEFT"  value="$elevator - $aileron"/>
+    <set servo="AILEVON_RIGHT" value="$elevator + $aileron"/>
   </command_laws>
 
   <section name="AUTO1" prefix="AUTO1_">

diff --git a/conf/airframes/twinjet_example.xml b/conf/airframes/twinjet_example.xml
@@ -69,8 +69,8 @@
     <set servo="THROTTLE" value="@THROTTLE"/>
     <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
     <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
-    <set servo="AILEVON_LEFT" value="$aileron + $elevator"/>
-    <set servo="AILEVON_RIGHT" value="-$aileron + $elevator"/>
+    <set servo="AILEVON_LEFT" value="-$aileron + $elevator"/>
+    <set servo="AILEVON_RIGHT" value="$aileron + $elevator"/>
   </command_laws>
 
   <section name="AUTO1" prefix="AUTO1_">

diff --git a/conf/airframes/twinstar_example.xml b/conf/airframes/twinstar_example.xml
@@ -38,10 +38,10 @@
 <!-- commands section -->
   <servos>
     <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>
-    <servo name="AILERON_LEFT"  no="1" min="1900" neutral="1480" max="1050"/>
+    <servo name="AILERON_LEFT"  no="1" min="1050" neutral="1480" max="1900"/>
     <servo name="ELEVATOR"      no="2" min="1750" neutral="1530" max="1250"/>
     <servo name="RUDDER"        no="3" min="1100" neutral="1500" max="1900"/>
-    <servo name="AILERON_RIGHT" no="4" min="2000" neutral="1610" max="1200"/>
+    <servo name="AILERON_RIGHT" no="4" min="1200" neutral="1610" max="2000"/>
     <servo name="FWHEEL"        no="5" min="1900" neutral="1470" max="1100"/>
     <servo name="HATCH"         no="6" min="1000" neutral="1500" max="2000"/>
     <servo name="CAM_ROLL"      no="7" min="1000" neutral="1500" max="2000"/>
@@ -78,8 +78,8 @@
     <set servo="MOTOR" value="@THROTTLE"/>
     <set servo="ELEVATOR" value="@PITCH"/>
     <let var="roll" value="@ROLL"/>
-    <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
-    <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
+    <set servo="AILERON_LEFT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
+    <set servo="AILERON_RIGHT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
     <set servo="RUDDER" value="@YAW"/>
     <set servo="FWHEEL" value="@YAW"/>
     <set servo="HATCH" value="@HATCH"/>

diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
@@ -510,7 +510,7 @@ void attitude_loop( void ) {
   h_ctl_attitude_loop(); /* Set  h_ctl_aileron_setpoint & h_ctl_elevator_setpoint */
   v_ctl_throttle_slew();
   ap_state->commands[COMMAND_THROTTLE] = v_ctl_throttle_slewed;
-  ap_state->commands[COMMAND_ROLL] = h_ctl_aileron_setpoint;
+  ap_state->commands[COMMAND_ROLL] = -h_ctl_aileron_setpoint;
 
   ap_state->commands[COMMAND_PITCH] = h_ctl_elevator_setpoint;