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vertical_ctrl_module_demo.xml
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vertical_ctrl_module_demo.xml
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<!DOCTYPE module SYSTEM "module.dtd">
<module name="vertical_ctrl_module_demo" dir="ctrl">
<doc>
<description>
Demo Vertical Control Module.
Only for rotorcraft firmware.
Example on how to reads the sonar and directly control the thrust.
</description>
<define name="VERTICAL_CTRL_MODULE_AGL_ID" value="ABI_BROADCAST" description="Sender id of the AGL (sonar) ABI message"/>
<section name="VERTICAL_CTRL_MODULE" prefix="VERTICAL_CTRL_MODULE_">
<define name="PGAIN" value="1.0" description="P gain on height error"/>
<define name="IGAIN" value="0.01" description="I gain on summed height error"/>
</section>
</doc>
<settings>
<dl_settings>
<dl_settings NAME="VertCtrlModDemo">
<dl_setting var="v_ctrl.setpoint" min="0" step="0.01" max="10" module="ctrl/vertical_ctrl_module_demo" shortname="height sp"/>
<dl_setting var="v_ctrl.pgain" min="0" step="0.01" max="1" module="ctrl/vertical_ctrl_module_demo" shortname="pgain" param="VERTICAL_CTRL_MODULE_PGAIN"/>
<dl_setting var="v_ctrl.igain" min="0" step="0.01" max="1" module="ctrl/vertical_ctrl_module_demo" shortname="igain" param="VERTICAL_CTRL_MODULE_IGAIN"/>
</dl_settings>
</dl_settings>
</settings>
<header>
<file name="vertical_ctrl_module_demo.h"/>
</header>
<makefile>
<file name="vertical_ctrl_module_demo.c"/>
</makefile>
</module>