Outback v2 calibrate and meld with v1

paparazzi · Sep 23, 2016 · f5d91df · f5d91df
1 parent dee9727
commit f5d91df
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Showing 2 changed files with 14 additions and 10 deletions.
diff --git a/conf/airframes/TUDELFT/tudelft_conf.xml b/conf/airframes/TUDELFT/tudelft_conf.xml
@@ -139,7 +139,7 @@
    telemetry="telemetry/TUDELFT/tudelft_outback.xml"
    flight_plan="flight_plans/TUDELFT/outback_dalby.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/hybrid_guidance.xml settings/outback.xml settings/control/gain_scheduling.xml"
-   settings_modules="modules/gps.xml modules/opa_controller.xml modules/kalamos_uart.xml modules/air_data.xml modules/temp_adc.xml modules/logger_sd_spi_direct.xml modules/gps_ubx_ucenter.xml modules/heli_throttle_curve.xml"
+   settings_modules="modules/gps.xml modules/opa_controller.xml modules/kalamos_uart.xml modules/geo_mag.xml modules/air_data.xml modules/temp_adc.xml modules/logger_sd_spi_direct.xml modules/gps_ubx_ucenter.xml modules/heli_throttle_curve.xml"
    gui_color="#ffffdffac31f"
   />
   <aircraft

diff --git a/conf/airframes/TUDELFT/tudelft_outback_v2.xml b/conf/airframes/TUDELFT/tudelft_outback_v2.xml
@@ -34,7 +34,9 @@
       <module name="ins" type="hff"/>
       <module name="guidance" type="hybrid"/>
       <module name="guidance" type="indi"/>
-      <module name="intermcu" type="uart"/>
+      <module name="intermcu" type="uart">
+        <configure name="SECONDARY_GPS" value="imcu"/>
+      </module>
       <module name="telemetry" type="intermcu"/>
       <module name="current_sensor"/>
       <module name="opa_controller"/>
@@ -76,6 +78,8 @@
       <module name="telemetry" type="intermcu"/>
       <module name="opa_controller"/>
       <module name="heli_swashplate_mixing"/>
+      <module name="gps" type="ublox"/>
+      <module name="gps_ubx_ucenter"/>
 
       <define name="RC_LOST_FBW_MODE" value="FBW_MODE_FAILSAFE"/><!-- Switch to Failsafe or to Autopilot on RC loss? -->
       <define name="RC_LOST_IN_AUTO_FBW_MODE" value="FBW_MODE_AUTO"/><!-- Switch to Failsafe with a working autopilot on RC loss? -->
@@ -216,7 +220,7 @@
     <define name="MAX_AIRSPEED" value="18.0"/>
     <define name="OUTBACK_FORWARD_VERTICAL_GAIN" value="0.1"/>
     <define name="OUTBACK_FORWARD_VERTICAL_DGAIN" value="0.04"/>
-    <define name="NOMINAL_FORWARD_THRUST" value="6624"/>
+    <define name="NOMINAL_FORWARD_THRUST" value="7000"/>
     <define name="OUTBACK_GUIDANCE" value="TRUE"/>
     <define name="OUTBACK_LOW_AIRSPEED_PITCH_GAIN" value="0.0"/>
     <define name="OUTBACK_LOW_AIRSPEED" value="20.0"/>
@@ -228,12 +232,12 @@
     <define name="ACCEL_Z_NEUTRAL" value="-25"/>
 
     <!-- replace this with your own calibration -->
-    <define name="MAG_X_NEUTRAL" value="57"/>
-    <define name="MAG_Y_NEUTRAL" value="-26"/>
-    <define name="MAG_Z_NEUTRAL" value="7"/>
-    <define name="MAG_X_SENS" value="19.7209165598" integer="16"/>
-    <define name="MAG_Y_SENS" value="16.6482878341" integer="16"/>
-    <define name="MAG_Z_SENS" value="16.7156762257" integer="16"/>
+    <define name="MAG_X_NEUTRAL" value="24"/>
+    <define name="MAG_Y_NEUTRAL" value="-8"/>
+    <define name="MAG_Z_NEUTRAL" value="44"/>
+    <define name="MAG_X_SENS" value="17.2343967639" integer="16"/>
+    <define name="MAG_Y_SENS" value="14.5526423602" integer="16"/>
+    <define name="MAG_Z_SENS" value="14.8660294963" integer="16"/>
 
     <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
     <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
@@ -352,7 +356,7 @@
     <define name="HOVER_KP" value="75"/>
     <define name="HOVER_KD" value="40"/>
     <define name="HOVER_KI" value="12"/>
-    <define name="NOMINAL_HOVER_THROTTLE" value="0.53"/>
+    <define name="NOMINAL_HOVER_THROTTLE" value="0.65"/>
     <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
   </section>