Small syntax change

FlyTheThings · Jan 27, 2013 · 0b6e142 · 0b6e142
1 parent ccc75ee
commit 0b6e142
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Showing 3 changed files with 33 additions and 268 deletions.
diff --git a/conf/airframes/krooz_1_0_quad_mkk.xml b/conf/airframes/krooz_1_0_quad_mkk.xml
diff --git a/conf/airframes/krooz_1_0_quad_pwm.xml b/conf/airframes/krooz_1_0_quad_pwm.xml
@@ -16,24 +16,23 @@
       <!--<define name="USE_SERVOS_7AND8"/>-->
     </subsystem>
 
-		<subsystem name="radio_control" type="ppm"/>
+    <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="transparent"/>
     <subsystem name="imu"           type="krooz_v1.0"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization" type="euler"/>
     <subsystem name="ahrs"          type="int_cmpl_quat"/>
-		<subsystem name="ins"           type="hff"/>
-		<subsystem name="motor_mixing"/>
-		
-		<define name="NO_RC_THRUST_LIMIT"/>
+    <subsystem name="ins"           type="hff"/>
+    <subsystem name="motor_mixing"/>
+    
+    <define name="NO_RC_THRUST_LIMIT"/>
   </firmware>
-
-<!--									 Using Geo Mag module										 -->
-	<modules main_freq="512">
-		<!--<load name="gps_ubx_ucenter.xml"/>
-		<load name="geo_mag.xml"/>-->
-	</modules>
-
+
+  <modules main_freq="512">
+  <!--<load name="gps_ubx_ucenter.xml"/>
+  <load name="geo_mag.xml"/>-->
+  </modules>
+
   <servos driver="Pwm">
     <servo name="FRONT"   no="0" min="1000" neutral="1205" max="1900"/>
     <servo name="BACK"    no="1" min="1000" neutral="1160" max="1900"/>
@@ -51,14 +50,14 @@
   <command_laws>
     <!-- command_laws is needed for pwm_supervision -->
     <!-- but can be empty if no additional servos are used -->
-		<!--  --><call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
+    <!--  --><call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
     <set servo="FRONT"  value="motor_mixing.commands[SERVO_FRONT]"/>
     <set servo="BACK"   value="motor_mixing.commands[SERVO_BACK]"/>
     <set servo="RIGHT"  value="motor_mixing.commands[SERVO_RIGHT]"/>
     <set servo="LEFT"   value="motor_mixing.commands[SERVO_LEFT]"/>
   </command_laws>
 
-	<section name="VERSION" prefix="VERSION_">
+  <section name="VERSION" prefix="VERSION_">
     <define name="MAJOR" value="1"/>
     <define name="MINOR" value="2"/>
   </section>
@@ -83,20 +82,20 @@
     <define name="GYRO_Q_SENS" value=" 4.41" integer="16"/>
     <define name="GYRO_R_SENS" value=" 4.41" integer="16"/>
 
-<define name="ACCEL_X_NEUTRAL" value="-17"/>
-<define name="ACCEL_Y_NEUTRAL" value="137"/>
-<define name="ACCEL_Z_NEUTRAL" value="-112"/>
-<define name="ACCEL_X_SENS" value="4.90163520863" integer="16"/>
-<define name="ACCEL_Y_SENS" value="4.92641947248" integer="16"/>
-<define name="ACCEL_Z_SENS" value="4.75672568963" integer="16"/>
+    <define name="ACCEL_X_NEUTRAL" value="-17"/>
+    <define name="ACCEL_Y_NEUTRAL" value="137"/>
+    <define name="ACCEL_Z_NEUTRAL" value="-112"/>
+    <define name="ACCEL_X_SENS" value="4.90163520863" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="4.92641947248" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="4.75672568963" integer="16"/>
 
     <!-- replace this with your own calibration -->
-<define name="MAG_X_NEUTRAL" value="-183"/>
-<define name="MAG_Y_NEUTRAL" value="-106"/>
-<define name="MAG_Z_NEUTRAL" value="-75"/>
-<define name="MAG_X_SENS" value="3.22557142458" integer="16"/>
-<define name="MAG_Y_SENS" value="3.52708642214" integer="16"/>
-<define name="MAG_Z_SENS" value="3.54627027156" integer="16"/>
+    <define name="MAG_X_NEUTRAL" value="-183"/>
+    <define name="MAG_Y_NEUTRAL" value="-106"/>
+    <define name="MAG_Z_NEUTRAL" value="-75"/>
+    <define name="MAG_X_SENS" value="3.22557142458" integer="16"/>
+    <define name="MAG_Y_SENS" value="3.52708642214" integer="16"/>
+    <define name="MAG_Z_SENS" value="3.54627027156" integer="16"/>
 
     <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
     <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
@@ -194,19 +193,19 @@
     <define name="HOVER_KI"    value="20"/>
     <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
     <define name="RC_CLIMB_COEF" value ="650"/>
-	  <define name="RC_DESCENT_COEF" value ="200"/>
+    <define name="RC_DESCENT_COEF" value ="200"/>
     <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
     <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
     <!-- NOMINAL_HOVER_THROTTLE sets a fixed value instead of the adaptive estimation -->
     <!--define name="NOMINAL_HOVER_THROTTLE" value="0.5"/-->
   </section>
 
   <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-		<define name="USE_REF" value="1"/>
+    <define name="USE_REF" value="1"/>
     <!--<define name="USE_SPEED_REF" value="1"/>-->
     <define name="MAX_BANK" value="20" unit="deg"/>
-		<define name="MAX_SPEED" value="SPEED_BFP_OF_REAL(5.)" unit="deg"/>
-		<define name="RC_SPEED_DEAD_BAND" value="160000"/>
+    <define name="MAX_SPEED" value="SPEED_BFP_OF_REAL(5.)" unit="deg"/>
+    <define name="RC_SPEED_DEAD_BAND" value="160000"/>
     <define name="PGAIN" value="80"/>
     <define name="DGAIN" value="80"/>
     <define name="IGAIN" value="0"/>

diff --git a/conf/conf.xml.example b/conf/conf.xml.example
@@ -22,9 +22,9 @@
     settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/modules/rotorcraft_cam.xml settings/modules/servo_switch.xml"
     gui_color="white"
     />
-	
-	<!-- Krooz -->
-	<aircraft
+  
+  <!-- Krooz -->
+  <aircraft
    name="Quad_Krooz_1"
    ac_id="3"
    airframe="airframes/krooz_1_0_quad_pwm.xml"
@@ -34,7 +34,7 @@
    settings=" settings/rotorcraft_basic.xml"
    gui_color="blue"
   />
-	
+  
   <!-- LISA -->
   <aircraft
     name="Hexa_LisaL"