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ctl_energy.xml
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ctl_energy.xml
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<!DOCTYPE settings SYSTEM "../settings.dtd">
<!-- A conf to use to tune a new A/C -->
<settings>
<dl_settings>
<dl_settings NAME="control">
<dl_settings NAME="trim">
<dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_roll_trim" shortname="roll_trim" module="inter_mcu" param="COMMAND_ROLL_TRIM"/>
<dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_pitch_trim" shortname="pitch_trim" param="COMMAND_PITCH_TRIM"/>
</dl_settings>
<dl_settings NAME="attitude">
<dl_setting MAX="25000" MIN="000" STEP="250" VAR="h_ctl_roll_pgain" shortname="roll_pgain" module="stabilization/stabilization_attitude"/>
<dl_setting MAX="1" MIN="0" STEP="0.05" VAR="h_ctl_roll_max_setpoint" shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT"/>
<dl_setting MAX="25000" MIN="0" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain" param="H_CTL_PITCH_PGAIN"/>
<dl_setting MAX="50000" MIN="0" STEP="10" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/>
<dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll" shortname="elevator_of_roll" param="H_CTL_ELEVATOR_OF_ROLL"/>
<dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
<dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll attitude pgain" param="H_CTL_ROLL_ATTITUDE_GAIN"/>
<dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll rate gain" param="H_CTL_ROLL_RATE_GAIN"/>
</dl_settings>
<dl_settings name="climb_accel">
<dl_setting MAX="2.0" MIN="0" STEP="0.01" VAR="v_ctl_altitude_pgain" shortname="alt_pgain" module="guidance/energy_ctrl" param="V_CTL_ALTITUDE_PGAIN"/>
<dl_setting MAX="1.0" MIN="0" STEP="0.01" VAR="v_ctl_airspeed_pgain" shortname="speed_pgain" param="V_CTL_AIRSPEED_PGAIN"/>
<dl_setting MAX="10.0" MIN="-10" STEP="0.5" VAR="v_ctl_max_climb" shortname="max_climb" param="V_CTL_MAX_CLIMB"/>
<dl_setting MAX="2.0" MIN="-2" STEP="0.05" VAR="v_ctl_max_acceleration" shortname="max_acc_g" param="V_CTL_MAX_ACCELERATION"/>
</dl_settings>
<dl_settings name="energy_loop">
<dl_setting MAX="45" MIN="8.0" STEP="0.5" VAR="v_ctl_auto_airspeed_setpoint" shortname="airspeed sp" />
<dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_nominal_cruise_throttle" shortname="cruise throttle" />
<dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_nominal_cruise_pitch" shortname="cruise pitch" />
<dl_setting MAX="1.0" MIN="0" STEP="0.01" VAR="v_ctl_desired_acceleration" shortname="acc_cmd" />
<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr" param="V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"/>
<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz" param="V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"/>
<dl_setting MAX="1." MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_of_airspeed_pgain" shortname="P_th_air"/>
<dl_setting MAX="0.1" MIN="0" STEP="0.001" VAR="v_ctl_auto_throttle_of_airspeed_igain" shortname="I_th_air" />
<dl_setting MAX="1." MIN="0" STEP="0.001" VAR="v_ctl_auto_pitch_of_airspeed_pgain" shortname="P_pitch_air" />
<dl_setting MAX="0.1" MIN="0" STEP="0.001" VAR="v_ctl_auto_pitch_of_airspeed_igain" shortname="I_pitch_air" />
<dl_setting MAX="5." MIN="0" STEP="0.01" VAR="v_ctl_auto_pitch_of_airspeed_dgain" shortname="D_pitch_air" />
<dl_setting MAX="1." MIN="0" STEP="0.01" VAR="v_ctl_energy_total_pgain" shortname="P_en_tot" param="V_CTL_ENERGY_TOT_PGAIN"/>
<dl_setting MAX="1." MIN="0" STEP="0.01" VAR="v_ctl_energy_total_igain" shortname="I_en_tot" param="V_CTL_ENERGY_TOT_IGAIN"/>
<dl_setting MAX="1." MIN="0" STEP="0.01" VAR="v_ctl_energy_diff_pgain" shortname="P_en_dis" param="V_CTL_ENERGY_DIFF_PGAIN"/>
<dl_setting MAX="1." MIN="0" STEP="0.01" VAR="v_ctl_energy_diff_igain" shortname="I_en_dis" param="V_CTL_ENERGY_DIFF_IGAIN"/>
</dl_settings>
<dl_settings name="groundspeed">
<dl_setting max="40" min="5" step="0.1" var="v_ctl_auto_groundspeed_setpoint" shortname="gs_sp" module="guidance/energy_ctrl" param="V_CTL_AUTO_GROUNDSPEED_SETPOINT"/>
<dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_groundspeed_pgain" shortname="gs_pgain" param="V_CTL_AUTO_GROUNDSPEED_PGAIN"/>
<dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_groundspeed_igain" shortname="gs_igain" param="V_CTL_AUTO_GROUNDSPEED_IGAIN"/>
</dl_settings>
<!--
<dl_settings NAME="agr">
<dl_setting MAX="1.0" MIN="0." STEP="0.05" VAR="agr_climb_throttle" shortname="climb_throttle" param="AGR_CLIMB_THROTTLE"/>
<dl_setting MAX="0.5" MIN="-0.1" STEP="0.05" VAR="agr_climb_pitch" shortname="climb_pitch" param="AGR_CLIMB_PITCH"/>
<dl_setting MAX="1.0" MIN="0." STEP="0.1" VAR="agr_climb_nav_ratio" shortname="climb_nav_ratio" param="AGR_CLIMB_NAV_RATIO"/>
<dl_setting MAX="1.0" MIN="0." STEP="0.05" VAR="agr_descent_throttle" shortname="descent_throttle" param="AGR_DESCENT_THROTTLE"/>
<dl_setting MAX="0.1" MIN="-0.5" STEP="0.05" VAR="agr_descent_pitch" shortname="descent_ptich" param="AGR_DESCENT_PITCH"/>
<dl_setting MAX="1.0" MIN="0." STEP="0.1" VAR="agr_descent_nav_ratio" shortname="descent_nav_ratio" param="AGR_DESCENT_NAV_RATIO"/>
</dl_settings>
<dl_settings name="auto_throttle">
<dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" handler="SetCruiseThrottle" param="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE">
<strip_button name="Loiter" value="0.1" group="dash_loiter"/>
<strip_button name="Cruise" value="0" group="dash_loiter"/>
<strip_button name="Dash" value="1" group="dash_loiter"/>
</dl_setting>
<dl_setting MAX="0.05" MIN="0.00" STEP="0.005" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
<dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
<dl_setting MAX="2" MIN="0.0" STEP="0.1" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_dgain"/>
<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr" param="V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"/>
<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz" param="V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"/>
<dl_setting MAX="10" MIN="-10" STEP="0.1" VAR="v_ctl_auto_throttle_pitch_of_vz_dgain" shortname="pitch_of_vz (d)"/>
</dl_settings>
<dl_settings name="auto_pitch">
<dl_setting MAX="0.1" MIN="0.01" STEP="0.01" VAR="v_ctl_auto_pitch_pgain" shortname="pgain" param="V_CTL_AUTO_PITCH_PGAIN"/>
<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_pitch_igain" shortname="igain" param="V_CTL_AUTO_PITCH_IGAIN"/>
</dl_settings>
-->
<dl_settings name="nav">
<dl_setting MAX="3" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pgain" shortname="course pgain" param="H_CTL_COURSE_PGAIN"/>
<dl_setting MAX="2" MIN="0" STEP="0.1" VAR="h_ctl_course_dgain" shortname="course dgain" param="H_CTL_COURSE_DGAIN"/>
<dl_setting MAX="2" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pre_bank_correction" shortname="pre bank cor" param="H_CTL_COURSE_PRE_BANK_CORRECTION"/>
<dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="nav_glide_pitch_trim" shortname="glide pitch trim" param="NAV_GLIDE_PITCH_TRIM"/>
<dl_setting MAX="1" MIN="0.02" STEP="0.01" VAR="h_ctl_roll_slew" shortname="roll slew"/>
<dl_setting MAX="500" MIN="-500" STEP="5" VAR="nav_radius"/>
<dl_setting MAX="359" MIN="0" STEP="5" VAR="nav_course"/>
<dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
<dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
<dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
<dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
<dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
<dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
<dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
</dl_settings>
</dl_settings>
</dl_settings>
</settings>