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[conf] fix range of settings for new control loop with airspeed
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@gautierhattenberger
gautierhattenberger committed Jun 1, 2012
1 parent d99472d commit 98462ed
Showing 1 changed file with 21 additions and 19 deletions.
40 changes: 21 additions & 19 deletions conf/settings/control/ctl_new_airspeed.xml
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Expand Up @@ -12,12 +12,12 @@
</dl_settings>

<dl_settings NAME="attitude">
<dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll_pgain" param="H_CTL_ROLL_ATTITUDE_GAIN" module="stabilization/stabilization_attitude"/>
<dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll_dgain" param="H_CTL_ROLL_RATE_GAIN"/>
<dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_roll_igain" shortname="roll_igain" param="H_CTL_ROLL_IGAIN" handler="SetRollIGain"/>
<dl_setting MAX="0" MIN="-55000" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain" param="H_CTL_PITCH_PGAIN"/>
<dl_setting MAX="0" MIN="-55000" STEP="250" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/>
<dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_pitch_igain" shortname="pitch_igain" param="H_CTL_PITCH_IGAIN" handler="SetPitchIGain"/>
<dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll_pgain" param="H_CTL_ROLL_ATTITUDE_GAIN" module="stabilization/stabilization_attitude"/>
<dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll_dgain" param="H_CTL_ROLL_RATE_GAIN"/>
<dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_roll_igain" shortname="roll_igain" param="H_CTL_ROLL_IGAIN" handler="SetRollIGain"/>
<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="250" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/>
<dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_pitch_igain" shortname="pitch_igain" param="H_CTL_PITCH_IGAIN" handler="SetPitchIGain"/>
<dl_setting MAX=".3" MIN="0." STEP="0.001" VAR="h_ctl_pitch_of_roll" shortname="pitch_of_roll" param="H_CTL_PITCH_OF_ROLL"/>
<dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle" module="stabilization/stabilization_adaptive"/>

Expand All @@ -26,14 +26,14 @@
</dl_settings>

<dl_settings NAME="feedforward">
<dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_roll_Kffa" shortname="roll_Kffa" param="H_CTL_ROLL_KFFA"/>
<dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_roll_Kffd" shortname="roll_Kffd" param="H_CTL_ROLL_KFFD"/>
<dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_pitch_Kffa" shortname="pitch_Kffa" param="H_CTL_PITCH_KFFA"/>
<dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_pitch_Kffd" shortname="pitch_Kffd" param="H_CTL_PITCH_KFFD"/>
<dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_roll_Kffa" shortname="roll_Kffa" param="H_CTL_ROLL_KFFA"/>
<dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_roll_Kffd" shortname="roll_Kffd" param="H_CTL_ROLL_KFFD"/>
<dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_pitch_Kffa" shortname="pitch_Kffa" param="H_CTL_PITCH_KFFA"/>
<dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_pitch_Kffd" shortname="pitch_Kffd" param="H_CTL_PITCH_KFFD"/>
</dl_settings>

<dl_settings name="alt">
<dl_setting MAX="0" MIN="-0.2" STEP="0.01" VAR="v_ctl_altitude_pgain" shortname="alt_pgain" param="V_CTL_ALTITUDE_PGAIN"/>
<dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="v_ctl_altitude_pgain" shortname="alt_pgain" param="V_CTL_ALTITUDE_PGAIN"/>
</dl_settings>

<dl_settings name="climb">
Expand All @@ -42,15 +42,17 @@
<strip_button name="AS" value="1" group="speed_mode"/>
<strip_button name="GS" value="2" group="speed_mode"/>
</dl_setting>
<dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_min_cruise_throttle" shortname="min cruise thr" module="guidance/guidance_v" param="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE"/>
<dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_max_cruise_throttle" shortname="max cruise thr" module="guidance/guidance_v" param="V_CTL_AUTO_THROTTLE_MAX_CRUISE_THROTTLE"/>
<dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" module="guidance/guidance_v" handler="SetCruiseThrottle" param="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE"/>

<dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_pitch_pgain" shortname="pitch_p" param="V_CTL_AUTO_PITCH_PGAIN"/>
<dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_pitch_igain" shortname="pitch_i" param="V_CTL_AUTO_PITCH_IGAIN"/>
<dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_pitch_dgain" shortname="pitch_d" param="V_CTL_AUTO_PITCH_DGAIN" module="guidance/guidance_v_n"/>
<dl_setting MAX="0.1" MIN="0" STEP="0.001" VAR="v_ctl_auto_pitch_pgain" shortname="pitch_p" param="V_CTL_AUTO_PITCH_PGAIN"/>
<dl_setting MAX="0.1" MIN="0" STEP="0.001" VAR="v_ctl_auto_pitch_igain" shortname="pitch_i" param="V_CTL_AUTO_PITCH_IGAIN"/>
<dl_setting MAX="0.1" MIN="0" STEP="0.001" VAR="v_ctl_auto_pitch_dgain" shortname="pitch_d" param="V_CTL_AUTO_PITCH_DGAIN" module="guidance/guidance_v_n"/>

<dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_p" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
<dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_throttle_igain" shortname="throttle_i" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
<dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_d" param="V_CTL_AUTO_THROTTLE_DGAIN"/>
<dl_setting MAX="0.1" MIN="0" STEP="0.001" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_p" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
<dl_setting MAX="0.1" MIN="0" STEP="0.001" VAR="v_ctl_auto_throttle_igain" shortname="throttle_i" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
<dl_setting MAX="0.1" MIN="0" STEP="0.001" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_d" param="V_CTL_AUTO_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"/>
Expand All @@ -70,7 +72,7 @@
</dl_settings>

<dl_settings name="nav">
<dl_setting MAX="-0.1" MIN="-3" STEP="0.05" VAR="h_ctl_course_pgain" shortname="course pgain" param="H_CTL_COURSE_PGAIN"/>
<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"/>
<dl_setting MAX="2" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pre_bank_correction" shortname="pre bank cor"/>
<dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="nav_glide_pitch_trim" shortname="glide pitch trim" param="NAV_GLIDE_PITCH_TRIM"/>
Expand All @@ -82,7 +84,7 @@
<dl_setting MAX="20" MIN="-20" 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." MIN="-0.2" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
<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>
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