Airframes walkera update

LingxiaoJIA · Aug 29, 2013 · 8a9011f · 8a9011f
1 parent 54b5986
commit 8a9011f
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Showing 2 changed files with 16 additions and 10 deletions.
diff --git a/conf/airframes/esden/quady_ls01pwm.xml b/conf/airframes/esden/quady_ls01pwm.xml
@@ -76,6 +76,11 @@
     <define name="MAG_X_SENS" value="4.12281780645" integer="16"/>
     <define name="MAG_Y_SENS" value="4.2491445745" integer="16"/>
     <define name="MAG_Z_SENS" value="4.44132606171" integer="16"/>
+
+    <!-- MAGNETO CURRENT CALIBRATION -->
+    <define name= "MAG_X_CURRENT_COEF" value="0.0103422023767"/>
+    <define name= "MAG_Y_CURRENT_COEF" value="0.0084568317783"/>
+    <define name= "MAG_Z_CURRENT_COEF" value="-0.01935617335"/>
   </section>
 
  <section name="AUTOPILOT">
@@ -85,6 +90,7 @@
  </section>
 
  <section name="BAT">
+   <define name="MILLIAMP_AT_FULL_THROTTLE" value="14000"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="4.3" unit="V"/>
  </section>
 

diff --git a/conf/airframes/walkera_V120D02S.xml b/conf/airframes/walkera_V120D02S.xml
@@ -12,9 +12,9 @@
 <airframe name="quady_lm2a2pwm">
 
   <servos driver="Pwm">
-    <servo name="CIC_FRONT" no="5" min="2000" neutral="1600" max="900"/>
-    <servo name="CIC_RIGHT" no="0" min="900" neutral="1400" max="2000"/>
-    <servo name="CIC_LEFT" no="1" min="900" neutral="1600" max="2000"/>
+    <servo name="CIC_FRONT" no="5" min="2000" neutral="1550" max="900"/>
+    <servo name="CIC_RIGHT" no="0" min="900" neutral="1550" max="2000"/>
+    <servo name="CIC_LEFT" no="1" min="900" neutral="1550" max="2000"/>
     <servo name="TAIL" no="2" min="1000" neutral="1400" max="1800"/>
     <servo name="GAS" no="3" min="900" neutral="980" max="2200"/>
   </servos>
@@ -34,9 +34,9 @@
     <let var="gas" value="($hoverpower) + $halfway * (((@THRUST) - ($hoverstick)) * (MAX_PPRZ - ($hoverpower))) / (MAX_PPRZ - ($hoverstick))  + (1 - $halfway) * ((@THRUST - ($hoverstick)) * ($hoverpower)) / ($hoverstick)"/>
 
     <set servo="GAS" value="$gas"/>
-    <set servo="CIC_LEFT" value="((@PITCH*0.3)-(@ROLL*0.3))-($collective)"/>
-    <set servo="CIC_RIGHT" value="((-@PITCH*0.3)-(@ROLL*0.3))+($collective)"/>
-    <set servo="CIC_FRONT" value="-@PITCH*0.3-($collective)"/>
+    <set servo="CIC_LEFT" value="((@PITCH*0.3)-(@ROLL*0.3))+($collective)"/>
+    <set servo="CIC_RIGHT" value="((-@PITCH*0.3)-(@ROLL*0.3))-($collective)"/>
+    <set servo="CIC_FRONT" value="-@PITCH*0.3+($collective)"/>
     <set servo="TAIL" value="@YAW"/>
   </command_laws>
 
@@ -195,10 +195,10 @@
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_s_0.1">
       <subsystem name="radio_control" type="superbitrf_rc">
-        <define name="RADIO_TRANSMITTER_ID" value="626371286"/>  <!-- 425044546 -->
-        <define name="RADIO_TRANSMITTER_CHAN" value="9"/> <!-- 9 -->
-        <define name="RADIO_TRANSMITTER_PROTOCOL" value="0xB2"/>
-        <!-- define name="RADIO_KILL_SWITCH" value="RADIO_FLAP"/ -->
+        <define name="RADIO_TRANSMITTER_ID" value="2008496626"/>  <!-- 425044546 -->
+        <define name="RADIO_TRANSMITTER_CHAN" value="6"/> <!-- 9 -->
+        <define name="RADIO_TRANSMITTER_PROTOCOL" value="0x01"/>
+        <define name="RADIO_KILL_SWITCH" value="RADIO_FLAP"/>
       </subsystem>
 
       <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>