From 2fa4abd640fee45868a5f9f3cac1edbd6d07d09e Mon Sep 17 00:00:00 2001
From: Pascal Brisset <pascal.brisset@free.fr>
Date: Thu, 24 May 2007 14:37:07 +0000
Subject: [PATCH] *** empty log message ***

---
 conf/settings/gyro.xml | 15 +++++++++++++++
 sw/airborne/fw_h_ctl.h |  2 ++
 2 files changed, 17 insertions(+)
 create mode 100644 conf/settings/gyro.xml

diff --git a/conf/settings/gyro.xml b/conf/settings/gyro.xml
new file mode 100644
index 0000000000..e7089f1c82
--- /dev/null
+++ b/conf/settings/gyro.xml
@@ -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>
diff --git a/sw/airborne/fw_h_ctl.h b/sw/airborne/fw_h_ctl.h
index d74f5a390d..c5e48a7263 100644
--- a/sw/airborne/fw_h_ctl.h
+++ b/sw/airborne/fw_h_ctl.h
@@ -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 );