/
beth_twist.xml
51 lines (39 loc) · 2.56 KB
/
beth_twist.xml
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<!DOCTYPE settings SYSTEM "../settings.dtd">
<settings>
<dl_settings>
<dl_settings NAME="Controller">
<dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="firmwares/beth/overo_twist_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
<dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="firmwares/beth/overo_twist_controller" shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
</dl_setting>
<dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" module="firmwares/beth/overo_estimator" shortname="azim_gain">
</dl_setting>
<dl_setting var="controller.omega_tilt_ref" min="200" step="100" max="1200" module="firmwares/beth/overo_twist_controller" shortname="tilt_omega_ref" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578">
</dl_setting>
<dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator" shortname="elev_lp_coeff">
</dl_setting>
<dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator" shortname="tilt_lp_coeff">
</dl_setting>
<dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator" shortname="azim_lp_coeff">
</dl_setting>
<dl_setting var="controller.ulim" min="0.1" step="0.1" max="2" module="firmwares/beth/overo_twist_controller" shortname="ulim">
</dl_setting>
<dl_setting var="controller.Vm" min="0.001" step="0.01" max="0.2" module="firmwares/beth/overo_twist_controller" shortname="Vm">
</dl_setting>
<dl_setting var="controller.VM" min="100" step="10" max="700" module="firmwares/beth/overo_twist_controller" shortname="VM">
</dl_setting>
<dl_setting var="controller.satval1" min=".01" step="0.05" max="0.174" module="firmwares/beth/overo_twist_controller" shortname="satval1">
</dl_setting>
<dl_setting var="controller.satval2" min="0.01" step="0.01" max=".282" module="firmwares/beth/overo_twist_controller" shortname="satval2">
</dl_setting>
<dl_setting var="controller.c" min="0.001" step="0.1" max="9.5" module="firmwares/beth/overo_twist_controller" shortname="c">
</dl_setting>
<!--float ulim; 1
float Vm; .1
float VM; 300
float satval1; 0.4
float satval2; 1
const float c;.04-->
<dl_setting var="controller.armed" min="0" step="1" max="2" shortname ="mode"/>
</dl_settings>
</dl_settings>
</settings>