<!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>
