Total Energy Control for Fixedwing

paparazzi · Aug 4, 2012 · b845da2 · b845da2
1 parent 8a531fc
commit b845da2
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Showing 17 changed files with 852 additions and 21 deletions.
diff --git a/conf/firmwares/subsystems/fixedwing/control.makefile b/conf/firmwares/subsystems/fixedwing/control.makefile
@@ -4,3 +4,6 @@
 
 
 $(TARGET).srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude.c $(SRC_FIRMWARE)/guidance/guidance_v.c
+
+$(TARGET).CFLAGS += -DCTRL_TYPE_H=\"firmwares/fixedwing/guidance/guidance_v.h\"
+
diff --git a/conf/firmwares/subsystems/fixedwing/control_adaptive.makefile b/conf/firmwares/subsystems/fixedwing/control_adaptive.makefile
@@ -5,3 +5,5 @@
 
 $(TARGET).srcs += $(SRC_FIRMWARE)/stabilization/stabilization_adaptive.c $(SRC_FIRMWARE)/guidance/guidance_v.c
 
+$(TARGET).CFLAGS += -DCTRL_TYPE_H=\"firmwares/fixedwing/guidance/guidance_v.h\"
+
diff --git a/conf/firmwares/subsystems/fixedwing/control_energy.makefile b/conf/firmwares/subsystems/fixedwing/control_energy.makefile
@@ -0,0 +1,9 @@
+# Hey Emacs, this is a -*- makefile -*-
+
+# Standard fixed wing control loops
+
+
+$(TARGET).srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude.c $(SRC_FIRMWARE)/guidance/energy_ctrl.c
+
+$(TARGET).CFLAGS += -DCTRL_TYPE_H=\"firmwares/fixedwing/guidance/energy_ctrl.h\"
+
diff --git a/conf/firmwares/subsystems/fixedwing/control_new.makefile b/conf/firmwares/subsystems/fixedwing/control_new.makefile
@@ -4,3 +4,6 @@
 
 $(TARGET).srcs += $(SRC_FIRMWARE)/stabilization/stabilization_adaptive.c $(SRC_FIRMWARE)/guidance/guidance_v_n.c
 
+$(TARGET).CFLAGS += -DCTRL_TYPE_H=\"firmwares/fixedwing/guidance/guidance_v.h\"
+
+
diff --git a/conf/flight_plans/versatile_airspeed.xml b/conf/flight_plans/versatile_airspeed.xml
@@ -0,0 +1,189 @@
+<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
+
+<flight_plan alt="75" ground_alt="0" lat0="43.4622" lon0="1.2729" max_dist_from_home="1500" name="Versatile" qfu="270" security_height="25">
+  <header>
+#include "firmwares/fixedwing/guidance/energy_ctrl.h"
+#include "subsystems/datalink/datalink.h"
+</header>
+  <waypoints>
+    <waypoint name="HOME" x="0" y="0"/>
+    <waypoint name="STDBY" x="20" y="80"/>
+    <waypoint name="1" x="44.8" y="102.2"/>
+    <waypoint name="2" x="-63.5" y="122.9"/>
+    <waypoint name="MOB" x="-11.5" y="-21.2"/>
+    <waypoint name="S1" x="-151.6" y="80.4"/>
+    <waypoint name="S2" x="180.1" y="214.9"/>
+    <waypoint alt="30" name="AF" x="200" y="-10"/>
+    <waypoint alt="0" name="TD" x="80.0" y="20.0"/>
+    <waypoint name="BASELEG" x="26.9" y="-23.0"/>
+    <waypoint name="_1" x="-100" y="0"/>
+    <waypoint name="_2" x="-100" y="200"/>
+    <waypoint name="_3" x="100" y="200"/>
+    <waypoint name="_4" x="100" y="0"/>
+    <waypoint name="CLIMB" x="-122.5" y="35.4"/>
+  </waypoints>
+  <sectors>
+    <sector name="Square">
+      <corner name="_1"/>
+      <corner name="_2"/>
+      <corner name="_3"/>
+      <corner name="_4"/>
+    </sector>
+  </sectors>
+  <exceptions/>
+  <blocks>
+    <block name="Wait GPS">
+      <set value="1" var="kill_throttle"/>
+      <while cond="!GpsFixValid()"/>
+    </block>
+    <block name="Geo init">
+      <while cond="LessThan(NavBlockTime(), 10)"/>
+      <call fun="NavSetGroundReferenceHere()"/>
+    </block>
+    <block name="Holding point">
+      <set value="1" var="kill_throttle"/>
+      <attitude roll="0" throttle="0" vmode="throttle"/>
+    </block>
+    <block name="Takeoff" strip_icon="takeoff.png" strip_button="Takeoff (wp CLIMB)">
+      <exception cond="estimator_z > ground_alt+25" deroute="Standby"/>
+      <set value="0" var="kill_throttle"/>
+      <set value="CLIMB_AIRSPEED" var="v_ctl_auto_airspeed_setpoint" />
+      <go wp="CLIMB"/>
+    </block>
+    <block name="Standby" strip_button="Standby" strip_icon="home.png">
+      <set value="NOMINAL_AIRSPEED" var="v_ctl_auto_airspeed_setpoint" />
+      <circle radius="nav_radius" wp="STDBY"/>
+    </block>
+    <block name="Figure 8 around wp 1" strip_button="Figure 8 (wp 1-2)" strip_icon="eight.png">
+      <eight center="1" radius="nav_radius" turn_around="2"/>
+    </block>
+    <block name="Oval 1-2" strip_button="Oval (wp 1-2)" strip_icon="oval.png">
+      <set value="RACE_AIRSPEED" var="v_ctl_auto_airspeed_setpoint" />
+      <oval p1="1" p2="2" radius="nav_radius"/>
+    </block>
+    <block name="MOB" strip_button="Turn around here" strip_icon="mob.png">
+      <call fun="NavSetWaypointHere(WP_MOB)"/>
+      <circle radius="100" wp="MOB"/>
+    </block>
+    <block name="Auto pitch (circle wp 1)">
+      <circle pitch="auto" radius="75" throttle="0.7" wp="1"/>
+    </block>
+    <block name="Climb 75% throttle">
+      <circle pitch="10" radius="50+(estimator_z-ground_alt)/2" throttle="0.75" until="(10 > PowerVoltage()) || (estimator_z > ground_alt+ 1350)" vmode="throttle" wp="1"/>
+    </block>
+    <block name="Climb 0m/s">
+      <circle climb="0" radius="nav_radius" until="10 > PowerVoltage()" vmode="climb" wp="1"/>
+    </block>
+    <block name="Climb 1m/s">
+      <circle climb="1" pitch="5" radius="50+(estimator_z-ground_alt)/2" until="10 > PowerVoltage()" vmode="climb" wp="1"/>
+    </block>
+    <block name="Climb nav_climb m/s">
+      <circle climb="nav_climb" radius="nav_radius" until="(10 > PowerVoltage()) || (estimator_z > ground_alt+ 1350)" vmode="climb" wp="1"/>
+    </block>
+
+    <block name="Circle 0% throttle">
+      <circle pitch="fp_pitch" radius="nav_radius" throttle="0.0" until="ground_alt+50 > estimator_z" vmode="throttle" wp="1"/>
+      <deroute block="Standby"/>
+    </block>
+
+    <block name="Oval 0% throttle">
+      <oval p1="1" p2="2" pitch="fp_pitch" radius="nav_radius" throttle="0.0" until="ground_alt+50 > estimator_z" vmode="throttle"/>
+      <deroute block="Standby"/>
+    </block>
+
+
+    <block name="Route 1-2">
+      <go approaching_time="0" from="1" hmode="route" wp="2"/>
+    </block>
+    <block name="Stack wp 2">
+      <circle radius="75" wp="2"/>
+    </block>
+    <block name="Route 2-1">
+      <go approaching_time="0" from="2" hmode="route" wp="1"/>
+    </block>
+    <block name="Stack wp 1">
+      <circle radius="75" wp="1"/>
+    </block>
+    <block name="Glide 1-2">
+      <go from="1" hmode="route" vmode="glide" wp="2"/>
+      <deroute block="Standby"/>
+    </block>
+    <block name="Survey S1-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png">
+      <survey_rectangle grid="150" wp1="S1" wp2="S2"/>
+    </block>
+    <block name="Land Right AF-TD" strip_button="Land right (wp AF-TD)" strip_icon="land-right.png">
+      <set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
+      <deroute block="land"/>
+    </block>
+    <block name="Land Left AF-TD" strip_button="Land left (wp AF-TD)" strip_icon="land-left.png">
+      <set value="-DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
+      <deroute block="land"/>
+    </block>
+    <block name="Constant Slope Land Right AF-TD" strip_button="Land right (wp AF-TD)" strip_icon="land-right.png">
+      <call fun="nav_compute_final_from_glide(WP_AF, WP_TD, 10.)"/>
+      <set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
+      <deroute block="land"/>
+    </block>
+    <block name="Constant Slope Land Left AF-TD" strip_button="Land left (wp AF-TD)" strip_icon="land-left.png">
+      <call fun="nav_compute_final_from_glide(WP_AF, WP_TD, 10.)"/>
+      <set value="-DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
+      <deroute block="land"/>
+    </block>
+    <block name="land">
+      <set value="NOMINAL_AIRSPEED" var="v_ctl_auto_airspeed_setpoint" />
+      <call fun="nav_compute_baseleg(WP_AF, WP_TD, WP_BASELEG, nav_radius)"/>
+      <circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="BASELEG"/>
+      <set value="GLIDE_AIRSPEED" var="v_ctl_auto_airspeed_setpoint" />
+      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
+    </block>
+    <block name="final">
+      <go from="AF" hmode="route" vmode="glide" wp="TD" approaching_time="5" />
+      <set value="(GLIDE_AIRSPEED*10.0/12.0)" var="v_ctl_auto_airspeed_setpoint" />
+    </block>
+    <block name="flare">
+      <go approaching_time="0" from="AF" hmode="route" throttle="0.0" vmode="glide" wp="TD"  approaching_time="0" />
+      <attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle" />
+    </block>
+    <block name="Steps roll -10, +10">
+      <while cond="TRUE">
+        <attitude alt="250" roll="10.0" until=" stage_time > 6" vmode="alt"/>
+        <attitude alt="250" roll="-10.0" until="stage_time > 6" vmode="alt"/>
+      </while>
+    </block>
+    <block name="Steps roll -20, +20">
+      <while cond="TRUE">
+        <attitude alt="250" roll="20.0" until=" stage_time > 3" vmode="alt"/>
+        <attitude alt="250" roll="-20.0" until="stage_time > 3" vmode="alt"/>
+      </while>
+    </block>
+    <block name="Steps pitch -10, +10">
+      <while cond="TRUE">
+        <attitude alt="250" pitch="10" roll="0.0" until=" stage_time > 2" vmode="alt"/>
+        <attitude alt="250" pitch="-10" roll="0.0" until=" stage_time > 2" vmode="alt"/>
+      </while>
+    </block>
+    <block name="Heading 30">
+      <heading alt="ground_alt+50" course="30" until="FALSE"/>
+    </block>
+    <block name="For loop (circles wp 1)">
+      <for from="0" to="3" var="i">
+        <circle radius="DEFAULT_CIRCLE_RADIUS+ $i*10" wp="1" until="NavCircleCount() > 1"/>
+      </for>
+      <deroute block="Standby"/>
+    </block>
+    <block name="Test datalink (go to wp 2)">
+      <exception cond="datalink_time > 22" deroute="Standby"/>
+      <go from="STDBY" hmode="route" wp="2"/>
+      <go from="2" hmode="route" wp="STDBY"/>
+    </block>
+    <block name="Fly in Square">
+      <exception cond="! InsideSquare(estimator_x, estimator_y)" deroute="Come back wp 1"/>
+      <attitude alt="ground_alt+75" roll="0" vmode="alt"/>
+    </block>
+    <block name="Come back wp 1">
+      <exception cond="InsideSquare(estimator_x, estimator_y)" deroute="Fly in Square"/>
+      <go wp="1"/>
+      <deroute block="Fly in Square"/>
+    </block>
+  </blocks>
+</flight_plan>
diff --git a/conf/messages.xml b/conf/messages.xml
@@ -110,6 +110,7 @@
      <field name="y" type="float" format="%.0f" unit="m"/>
      <field name="altitude" type="float" format="%.0f"  unit="m"/>
      <field name="climb" type="float" format="%.1f"  unit="m/s"></field>
+     <field name="airspeed" type="float" format="%.1f"  unit="m/s"></field>
    </message>
 
    <message name="GPS_SOL" id="17">

diff --git a/conf/modules/airspeed_adc.xml b/conf/modules/airspeed_adc.xml
@@ -20,7 +20,7 @@
     <file name="airspeed_adc.h"/>
   </header>
   <init fun="airspeed_adc_init()"/>
-  <periodic fun="airspeed_adc_update()" freq="10."/>
+  <periodic fun="airspeed_adc_update()" />
 
   <makefile>
     <file name="airspeed_adc.c"/>

diff --git a/conf/settings/control/ctl_energy.xml b/conf/settings/control/ctl_energy.xml
@@ -0,0 +1,107 @@
+<!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" />
+        <dl_setting MAX="2.0" MIN="-2" STEP="0.05" VAR="v_ctl_max_acceleration" shortname="max_acc_g" />
+      </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"/>
+        <dl_setting MAX="1." MIN="0" STEP="0.01" VAR="v_ctl_energy_total_igain" shortname="I_en_tot"/>
+        <dl_setting MAX="1." MIN="0" STEP="0.01" VAR="v_ctl_energy_diff_pgain" shortname="P_en_dis"/>
+        <dl_setting MAX="1." MIN="0" STEP="0.01" VAR="v_ctl_energy_diff_igain" shortname="I_en_dis"/>
+
+      </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>
diff --git a/conf/settings/estimation/ac_char.xml b/conf/settings/estimation/ac_char.xml
@@ -0,0 +1,20 @@
+<!DOCTYPE settings SYSTEM "../settings.dtd">
+
+<!-- A conf to use to tune a new A/C -->
+
+<settings>
+  <dl_settings>
+    <dl_settings NAME="performance">
+
+      <dl_settings NAME="estimates">
+        <dl_setting MAX="1" MIN="-1" STEP="1" VAR="ac_char_climb_pitch" shortname="climb_pitch"  module="guidance/energy_ctrl"/>
+        <dl_setting MAX="1" MIN="-1" STEP="1" VAR="ac_char_climb_max" shortname="climb_max" />
+        <dl_setting MAX="1" MIN="-1" STEP="1" VAR="ac_char_descend_pitch" shortname="descend_pitch" />
+        <dl_setting MAX="1" MIN="-1" STEP="1" VAR="ac_char_descend_max" shortname="descend_max" />
+        <dl_setting MAX="1" MIN="-1" STEP="1" VAR="ac_char_cruise_throttle" shortname="cruise_thr" />
+        <dl_setting MAX="1" MIN="-1" STEP="1" VAR="ac_char_cruise_pitch" shortname="cruise_pitch" />
+      </dl_settings>
+
+    </dl_settings>
+  </dl_settings>
+</settings>
diff --git a/sw/airborne/firmwares/fixedwing/ap_downlink.h b/sw/airborne/firmwares/fixedwing/ap_downlink.h
@@ -90,7 +90,12 @@
 })
 
 
-#define PERIODIC_SEND_DESIRED(_trans, _dev) DOWNLINK_SEND_DESIRED(_trans, _dev, &h_ctl_roll_setpoint, &h_ctl_pitch_loop_setpoint, &h_ctl_course_setpoint, &desired_x, &desired_y, &v_ctl_altitude_setpoint, &v_ctl_climb_setpoint);
+#ifndef USE_AIRSPEED
+#define PERIODIC_SEND_DESIRED(_trans, _dev) { float v_ctl_auto_airspeed_setpoint = NOMINAL_AIRSPEED;  DOWNLINK_SEND_DESIRED(_trans, _dev, &h_ctl_roll_setpoint, &h_ctl_pitch_loop_setpoint, &h_ctl_course_setpoint, &desired_x, &desired_y, &v_ctl_altitude_setpoint, &v_ctl_climb_setpoint, &v_ctl_auto_airspeed_setpoint);}
+#else
+#define PERIODIC_SEND_DESIRED(_trans, _dev) DOWNLINK_SEND_DESIRED(_trans, _dev, &h_ctl_roll_setpoint, &h_ctl_pitch_loop_setpoint, &h_ctl_course_setpoint, &desired_x, &desired_y, &v_ctl_altitude_setpoint, &v_ctl_climb_setpoint, &v_ctl_auto_airspeed_setpoint);
+#endif
+
 
 #if USE_INFRARED
 #define PERIODIC_SEND_STATE_FILTER_STATUS(_trans, _dev) { uint16_t contrast = abs(infrared.roll) + abs(infrared.pitch) + abs(infrared.top); uint8_t mde = 3; if (contrast < 50) mde = 7; DOWNLINK_SEND_STATE_FILTER_STATUS(_trans, _dev, &mde, &contrast); }