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changed v_ctl_altitude_pgain to positive

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This commit is contained in:
Felix Ruess
2011-11-29 20:20:47 +01:00
parent a107375f8e
commit 00ac61cba5
134 changed files with 137 additions and 137 deletions
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conf/airframes/CDW/ChimuLisaFw.xml
+1 -1
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@@ -69,7 +69,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.03"/>
<define name="ALTITUDE_PGAIN" value="0.03"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
conf/airframes/CDW/ChimuTinyFw.xml
+1 -1
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@@ -93,7 +93,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.03"/>
<define name="ALTITUDE_PGAIN" value="0.03"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
conf/airframes/CDW/ChimuTinyFwSpi.xml
+1 -1
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@@ -93,7 +93,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.03"/>
<define name="ALTITUDE_PGAIN" value="0.03"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
conf/airframes/ENAC/fixed-wing/firestorm.xml
+1 -1
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@@ -149,7 +149,7 @@
<!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ -->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.04"/>
<define name="ALTITUDE_PGAIN" value="0.04"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
conf/airframes/ENAC/fixed-wing/funjet2.xml
+1 -1
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@@ -144,7 +144,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/-->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
<define name="ALTITUDE_PGAIN" value="0.06"/> <!-- -0.024 -->
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
+1 -1
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@@ -149,7 +149,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/-->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
<define name="ALTITUDE_PGAIN" value="0.06"/> <!-- -0.024 -->
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
conf/airframes/ENAC/fixed-wing/funjet2_new.xml
+1 -1
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@@ -149,7 +149,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/-->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
<define name="ALTITUDE_PGAIN" value="0.06"/> <!-- -0.024 -->
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
conf/airframes/ENAC/fixed-wing/funjet3.xml
+1 -1
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@@ -120,7 +120,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/-->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.159999996424"/> <!-- -0.024 -->
<define name="ALTITUDE_PGAIN" value="0.159999996424"/> <!-- -0.024 -->
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="5."/>
conf/airframes/ENAC/fixed-wing/merlin.xml
+1 -1
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@@ -119,7 +119,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/>
<define name="ALTITUDE_PGAIN" value="0.06"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
conf/airframes/ENAC/fixed-wing/minimag1.xml
+1 -1
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@@ -131,7 +131,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.07"/>
<define name="ALTITUDE_PGAIN" value="0.07"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
conf/airframes/ENAC/fixed-wing/obsolete/drops.xml
+1 -1
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@@ -132,7 +132,7 @@ on<!DOCTYPE airframe SYSTEM "airframe.dtd">
<!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/-->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/>
<define name="ALTITUDE_PGAIN" value="0.06"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml
+1 -1
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@@ -115,7 +115,7 @@
<!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ -->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.104000002146"/>
<define name="ALTITUDE_PGAIN" value="0.104000002146"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml
+1 -1
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@@ -113,7 +113,7 @@
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.04"/>
<define name="ALTITUDE_PGAIN" value="0.04"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml
+1 -1
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@@ -116,7 +116,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.065"/>
<define name="ALTITUDE_PGAIN" value="0.065"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml
+1 -1
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@@ -118,7 +118,7 @@
<!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ -->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.04"/>
<define name="ALTITUDE_PGAIN" value="0.04"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml
+1 -1
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@@ -120,7 +120,7 @@
<!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ -->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.04"/>
<define name="ALTITUDE_PGAIN" value="0.04"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
conf/airframes/ENAC/fixed-wing/overview.xml
+1 -1
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@@ -119,7 +119,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/>
<define name="ALTITUDE_PGAIN" value="0.06"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
conf/airframes/ENAC/fixed-wing/soarzi.xml
+1 -1
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@@ -110,7 +110,7 @@
<define name="POWER_CTL_BAT_NOMINAL" value="7.4" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.07"/>
<define name="ALTITUDE_PGAIN" value="0.07"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
conf/airframes/ENAC/fixed-wing/spocIII-1.xml
+1 -1
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@@ -121,7 +121,7 @@
<!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ -->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.04"/>
<define name="ALTITUDE_PGAIN" value="0.04"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
conf/airframes/ENAC/fixed-wing/spocIII-2.xml
+1 -1
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@@ -124,7 +124,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.04"/>
<define name="ALTITUDE_PGAIN" value="0.04"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
conf/airframes/ENAC/fixed-wing/spocIII-3.xml
+1 -1
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@@ -127,7 +127,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.04"/>
<define name="ALTITUDE_PGAIN" value="0.04"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
conf/airframes/ENAC/fixed-wing/twinjet2.xml
+1 -1
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@@ -131,7 +131,7 @@
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.0450000017881"/>
<define name="ALTITUDE_PGAIN" value="0.0450000017881"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
conf/airframes/ENAC/fixed-wing/weasel.xml
+1 -1
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@@ -144,7 +144,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/-->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.159999996424"/> <!-- -0.024 -->
<define name="ALTITUDE_PGAIN" value="0.159999996424"/> <!-- -0.024 -->
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="5."/>
conf/airframes/LAAS/mmlaas_N1.xml
+1 -1
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@@ -140,7 +140,7 @@
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.15"/>
<define name="ALTITUDE_PGAIN" value="0.15"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
conf/airframes/LAAS/mmlaas_N2.xml
+1 -1
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@@ -136,7 +136,7 @@
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.15"/>
<define name="ALTITUDE_PGAIN" value="0.15"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
conf/airframes/LAAS/mmlaas_N3.xml
+1 -1
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@@ -136,7 +136,7 @@
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.15"/>
<define name="ALTITUDE_PGAIN" value="0.15"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
+1 -1
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@@ -130,7 +130,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.03"/>
<define name="ALTITUDE_PGAIN" value="0.03"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
conf/airframes/Poine/easy_glider1.xml
+1 -1
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@@ -97,7 +97,7 @@
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.03"/>
<define name="ALTITUDE_PGAIN" value="0.03"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
conf/airframes/Poine/funjet42.xml
+1 -1
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@@ -118,7 +118,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
<define name="ALTITUDE_PGAIN" value="0.06"/> <!-- -0.024 -->
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
conf/airframes/Poine/swift_1.xml
+1 -1
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@@ -112,7 +112,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
<define name="ALTITUDE_PGAIN" value="0.06"/> <!-- -0.024 -->
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
conf/airframes/TU_Delft/EasyStartPanTiltCHIMU_SPI.xml
+1 -1
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@@ -94,7 +94,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.03"/>
<define name="ALTITUDE_PGAIN" value="0.03"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
conf/airframes/TU_Delft/MicrojetBR.xml
+1 -1
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@@ -112,7 +112,7 @@
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.101000003517"/>
<define name="ALTITUDE_PGAIN" value="0.101000003517"/>
<!-- outer loop saturation max m/s the alt tap can be-->
<define name="ALTITUDE_MAX_CLIMB" value="4"/>
conf/airframes/TU_Delft/MicrojetBRimu.xml
+1 -1
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@@ -147,7 +147,7 @@
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.101000003517"/>
<define name="ALTITUDE_PGAIN" value="0.101000003517"/>
<!-- outer loop saturation max m/s the alt tap can be-->
<define name="ALTITUDE_MAX_CLIMB" value="4"/>
conf/airframes/TU_Delft/MicrojetCDW.xml
+1 -1
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@@ -131,7 +131,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.01"/>
<define name="ALTITUDE_PGAIN" value="0.01"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="4."/>
conf/airframes/TU_Delft/Trip50A.xml
+2 -2
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@@ -115,12 +115,12 @@
<define name="POWER_CTL_BAT_NOMINAL" value="7.6" unit="volt"/>
<!-- Vertical Outerloop
v_ctl_climb_setpoint = ALTITUDE_PGAIN * altitude_error + altitude_pre_climb;
v_ctl_climb_setpoint = -ALTITUDE_PGAIN * altitude_error + altitude_pre_climb;
BoundAbs(v_ctl_climb_setpoint, V_CTL_ALTITUDE_MAX_CLIMB);
-->
<!-- outer loop proportional gain: alt error 5 climb m/s -->
<define name="ALTITUDE_PGAIN" value="-0.0750000029802"/>
<define name="ALTITUDE_PGAIN" value="0.0750000029802"/>
<!-- outer loop saturation: m/s-->
<define name="ALTITUDE_MAX_CLIMB" value="5.0"/>
conf/airframes/TU_Delft/skywalker.xml
+1 -1
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@@ -128,7 +128,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.108000002801"/>
<define name="ALTITUDE_PGAIN" value="0.108000002801"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
conf/airframes/TU_Delft/skywalkerfiber.xml
+1 -1
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@@ -254,7 +254,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.108000002801"/>
<define name="ALTITUDE_PGAIN" value="0.108000002801"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
conf/airframes/delta_wing_minimal_example.xml
+1 -1
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@@ -101,7 +101,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
<define name="ALTITUDE_PGAIN" value="0.06"/> <!-- -0.024 -->
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
conf/airframes/demo_module.xml
+1 -1
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@@ -93,7 +93,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<define name="ALTITUDE_PGAIN" value="-0.04"/>
<define name="ALTITUDE_PGAIN" value="0.04"/>
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
<!-- auto throttle inner loop -->
conf/airframes/easy_glider_example.xml
+1 -1
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@@ -90,7 +90,7 @@
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.03"/>
<define name="ALTITUDE_PGAIN" value="0.03"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
conf/airframes/easystar_ets_example.xml
+1 -1
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@@ -115,7 +115,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.0" unit="volt"/>
<!-- outer loop -->
<define name="ALTITUDE_PGAIN" value="-0.075" unit="(m/s)/m"/>
<define name="ALTITUDE_PGAIN" value="0.075" unit="(m/s)/m"/>
<define name="ALTITUDE_MAX_CLIMB" value="4." unit="m/s"/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5" unit="%"/>
conf/airframes/easystar_example.xml
+1 -1
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@@ -109,7 +109,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.0" unit="volt"/>
<!-- outer loop -->
<define name="ALTITUDE_PGAIN" value="-0.075" unit="(m/s)/m"/>
<define name="ALTITUDE_PGAIN" value="0.075" unit="(m/s)/m"/>
<define name="ALTITUDE_MAX_CLIMB" value="4." unit="m/s"/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5" unit="%"/>
conf/airframes/example_twog_analogimu.xml
+1 -1
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@@ -117,7 +117,7 @@
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.07"/>
<define name="ALTITUDE_PGAIN" value="0.07"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
conf/airframes/flixr_discovery.xml
+1 -1
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@@ -242,7 +242,7 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
<define name="POWER_CTL_BAT_NOMINAL" value="11.2" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.04" unit="(m/s)/m"/>
<define name="ALTITUDE_PGAIN" value="0.04" unit="(m/s)/m"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2." unit="m/s"/>
conf/airframes/funjet_cam_example.xml
+1 -1
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@@ -130,7 +130,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
<define name="ALTITUDE_PGAIN" value="0.06"/> <!-- -0.024 -->
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
conf/airframes/funjet_example.xml
+1 -1
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@@ -121,7 +121,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
<define name="ALTITUDE_PGAIN" value="0.06"/> <!-- -0.024 -->
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
conf/airframes/jsbsim.xml
+1 -1
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@@ -103,7 +103,7 @@
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.04"/>
<define name="ALTITUDE_PGAIN" value="0.04"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
conf/airframes/mentor_tum.xml
+1 -1
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@@ -143,7 +143,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="14.8" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.04" unit="(m/s)/m"/>
<define name="ALTITUDE_PGAIN" value="0.04" unit="(m/s)/m"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2.5" unit="m/s"/>
conf/airframes/microjet_example.xml
+1 -1
View File
@@ -104,7 +104,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.03"/>
<define name="ALTITUDE_PGAIN" value="0.03"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
conf/airframes/mm/extra/press_t.xml
+1 -1
View File
@@ -109,7 +109,7 @@
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
<define name="ALTITUDE_PGAIN" value="0.06"/> <!-- -0.024 -->
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>

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