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Pascal Brisset
2007-05-24 14:37:07 +00:00
parent ac93b9115b
commit 2fa4abd640
2 changed files with 17 additions and 0 deletions
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conf/settings/gyro.xml
+15
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@@ -0,0 +1,15 @@
<!DOCTYPE settings SYSTEM "settings.dtd">
<settings>
<dl_settings NAME="control">
<dl_settings name="rate">
<dl_setting MAX="1" MIN="0" STEP="0.1" VAR="h_ctl_roll_rate_mode" shortname="mode"/>
<dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_hi_throttle_roll_rate_pgain" shortname="lo&hi rates pgains" module="fw_h_ctl" handler="SetRollRatePGain"/>
<dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_hi_throttle_roll_rate_pgain" shortname="hi th pgain"/>
<dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_lo_throttle_roll_rate_pgain" shortname="lo th pgain"/>
<dl_setting MAX="2" MIN="-2" STEP="0.1" VAR="h_ctl_roll_rate_dgain" shortname="dgain"/>
<dl_setting MAX="0" MIN="-20" STEP="1" VAR="h_ctl_roll_rate_setpoint_pgain" shortname="roll_pgain"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="h_ctl_auto1_rate" shortname="AUTO1 rate"/>
</dl_settings>
</dl_settings>
</settings>
sw/airborne/fw_h_ctl.h
+2
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@@ -73,6 +73,8 @@ extern float h_ctl_hi_throttle_roll_rate_pgain;
extern float h_ctl_lo_throttle_roll_rate_pgain;
extern float h_ctl_roll_rate_igain;
extern float h_ctl_roll_rate_dgain;
#define fw_h_ctl_SetRollRatePGain(v) { h_ctl_hi_throttle_roll_rate_pgain = v; h_ctl_lo_throttle_roll_rate_pgain = v; }
#endif
extern void h_ctl_init( void );