stabilization_att_int_quat.xml

<!DOCTYPE settings SYSTEM "../settings.dtd">

<settings target="ap|nps">
  <dl_settings>

    <dl_settings NAME="Att Loop">
      <dl_setting var="stabilization_gains.p.x" min="1" step="1" max="8000"   module="stabilization/stabilization_attitude_common_int" shortname="pgain phi" param="STABILIZATION_ATTITUDE_PHI_PGAIN"/>
      <dl_setting var="stabilization_gains.d.x" min="1" step="1" max="4000"   module="stabilization/stabilization_attitude_common_int" shortname="dgain p" param="STABILIZATION_ATTITUDE_PHI_DGAIN"/>
      <dl_setting var="stabilization_gains.i.x" min="0" step="1" max="800"    module="stabilization/stabilization_attitude_common_int" shortname="igain phi" param="STABILIZATION_ATTITUDE_PHI_IGAIN"/>
      <dl_setting var="stabilization_gains.dd.x" min="0" step="1" max="1000" module="stabilization/stabilization_attitude_common_int" shortname="ddgain p" param="STABILIZATION_ATTITUDE_PHI_DDGAIN"/>
      <dl_setting var="stabilization_gains.p.y" min="1" step="1" max="8000"   module="stabilization/stabilization_attitude_common_int" shortname="pgain theta" param="STABILIZATION_ATTITUDE_THETA_PGAIN"/>
      <dl_setting var="stabilization_gains.d.y" min="1" step="1" max="4000"   module="stabilization/stabilization_attitude_common_int" shortname="dgain q" param="STABILIZATION_ATTITUDE_THETA_DGAIN"/>
      <dl_setting var="stabilization_gains.i.y" min="0"  step="1" max="800"    module="stabilization/stabilization_attitude_common_int" shortname="igain theta" param="STABILIZATION_ATTITUDE_THETA_IGAIN"/>
      <dl_setting var="stabilization_gains.dd.y" min="0"    step="1" max="1000"  module="stabilization/stabilization_attitude_common_int" shortname="ddgain q" param="STABILIZATION_ATTITUDE_THETA_DDGAIN"/>
      <dl_setting var="stabilization_gains.p.z" min="1" step="1" max="4000"   module="stabilization/stabilization_attitude_common_int" shortname="pgain psi" param="STABILIZATION_ATTITUDE_PSI_PGAIN"/>
      <dl_setting var="stabilization_gains.d.z" min="1" step="1" max="4000"   module="stabilization/stabilization_attitude_common_int" shortname="dgain r" param="STABILIZATION_ATTITUDE_PSI_DGAIN"/>
      <dl_setting var="stabilization_gains.i.z" min="0"  step="1" max="400"    module="stabilization/stabilization_attitude_common_int" shortname="igain psi" param="STABILIZATION_ATTITUDE_PSI_IGAIN"/>
      <dl_setting var="stabilization_gains.dd.z" min="0" step="1" max="1000"  module="stabilization/stabilization_attitude_common_int" shortname="ddgain r" param="STABILIZATION_ATTITUDE_PSI_DDGAIN"/>

      <dl_setting var="stab_att_ref_model.omega.p" min="1" step="1" max="1000" unit="rad/s" alt_unit="deg/s" module="stabilization/stabilization_attitude_ref_quat_int" shortname="omega p" param="STABILIZATION_ATTITUDE_REF_OMEGA_P" handler="SetOmegaP"/>
      <dl_setting var="stab_att_ref_model.zeta.p" min="0.5" step="0.05" max="1.2" module="stabilization/stabilization_attitude_ref_quat_int" shortname="zeta p" param="STABILIZATION_ATTITUDE_REF_ZETA_P" handler="SetZetaP"/>
      <dl_setting var="stab_att_ref_model.omega.q" min="1" step="1" max="1000" unit="rad/s" alt_unit="deg/s" module="stabilization/stabilization_attitude_ref_quat_int" shortname="omega q" param="STABILIZATION_ATTITUDE_REF_OMEGA_Q" handler="SetOmegaQ"/>
      <dl_setting var="stab_att_ref_model.zeta.q" min="0.5" step="0.05" max="1.2" module="stabilization/stabilization_attitude_ref_quat_int" shortname="zeta q" param="STABILIZATION_ATTITUDE_REF_ZETA_Q" handler="SetZetaQ"/>
      <dl_setting var="stab_att_ref_model.omega.r" min="1" step="1" max="1000" unit="rad/s" alt_unit="deg/s" module="stabilization/stabilization_attitude_ref_quat_int" shortname="omega r" param="STABILIZATION_ATTITUDE_REF_OMEGA_P" handler="SetOmegaR"/>
      <dl_setting var="stab_att_ref_model.zeta.r" min="0.5" step="0.05" max="1.2" module="stabilization/stabilization_attitude_ref_quat_int" shortname="zeta r" param="STABILIZATION_ATTITUDE_REF_ZETA_R" handler="SetZetaR"/>
    </dl_settings>

  </dl_settings>
</settings>