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changed rotorcraft stabilization_attitude_euler gains to positive

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This commit is contained in:
Felix Ruess
2011-11-30 22:26:49 +01:00
parent 070eb4c064
commit 3167c8fecc
42 changed files with 488 additions and 488 deletions
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conf/airframes/CDW/debug_i2c.xml
+18 -18
View File
@@ -115,17 +115,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- gaui props
<define name="PHI_PGAIN" value="-900"/>
<define name="PHI_DGAIN" value="-200"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="900"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-900"/>
<define name="THETA_DGAIN" value="-200"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="900"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-900"/>
<define name="PSI_DGAIN" value="-200"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="900"/>
<define name="PSI_DGAIN" value="200"/>
<define name="PSI_IGAIN" value="10"/>
<define name="PHI_DDGAIN" value=" 200"/>
<define name="THETA_DDGAIN" value=" 200"/>
@@ -133,17 +133,17 @@
-->
<!-- feedback -->
<define name="PHI_PGAIN" value="-2000"/>
<define name="PHI_DGAIN" value="-400"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="2000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-2000"/>
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="2000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-2000"/>
<define name="PSI_DGAIN" value="-400"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="2000"/>
<define name="PSI_DGAIN" value="400"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
conf/airframes/ENAC/quadrotor/blender.xml
+9 -9
View File
@@ -174,17 +174,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-160"/>
<define name="PHI_IGAIN" value="-40"/>
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="160"/>
<define name="PHI_IGAIN" value="40"/>
<define name="THETA_PGAIN" value="-400"/>
<define name="THETA_DGAIN" value="-160"/>
<define name="THETA_IGAIN" value="-40"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="160"/>
<define name="THETA_IGAIN" value="40"/>
<define name="PSI_PGAIN" value="-1000"/>
<define name="PSI_DGAIN" value="-350"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="1000"/>
<define name="PSI_DGAIN" value="350"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
conf/airframes/ENAC/quadrotor/booz2_g1.xml
+9 -9
View File
@@ -137,17 +137,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-2000"/>
<define name="PHI_DGAIN" value="-400"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="2000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-2000"/>
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="2000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-2000"/>
<define name="PSI_DGAIN" value="-400"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="2000"/>
<define name="PSI_DGAIN" value="400"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
conf/airframes/ENAC/quadrotor/g1_vision.xml
+9 -9
View File
@@ -110,17 +110,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-2000"/>
<define name="PHI_DGAIN" value="-400"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="2000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-2000"/>
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="2000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-1000"/>
<define name="PSI_DGAIN" value="-350"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="1000"/>
<define name="PSI_DGAIN" value="350"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
conf/airframes/ENAC/quadrotor/mkk1-vision.xml
+9 -9
View File
@@ -143,17 +143,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-650"/>
<define name="PHI_DGAIN" value="-200"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="650"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-650"/>
<define name="THETA_DGAIN" value="-200"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="650"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-800"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-20"/>
<define name="PSI_PGAIN" value="800"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="20"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
conf/airframes/ENAC/quadrotor/mkk1.xml
+9 -9
View File
@@ -173,17 +173,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-650"/>
<define name="PHI_DGAIN" value="-200"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="650"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-650"/>
<define name="THETA_DGAIN" value="-200"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="650"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-800"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-20"/>
<define name="PSI_PGAIN" value="800"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="20"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
conf/airframes/ENAC/quadrotor/navgo.xml
+9 -9
View File
@@ -190,17 +190,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-350"/>
<define name="PHI_DGAIN" value="-190"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="350"/>
<define name="PHI_DGAIN" value="190"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-350"/>
<define name="THETA_DGAIN" value="-190"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="350"/>
<define name="THETA_DGAIN" value="190"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-700"/>
<define name="PSI_DGAIN" value="-250"/>
<define name="PSI_IGAIN" value="-20"/>
<define name="PSI_PGAIN" value="700"/>
<define name="PSI_DGAIN" value="250"/>
<define name="PSI_IGAIN" value="20"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 70"/>
conf/airframes/ENAC/quadrotor/nova1.xml
+9 -9
View File
@@ -144,17 +144,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-650"/>
<define name="PHI_DGAIN" value="-200"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="650"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-650"/>
<define name="THETA_DGAIN" value="-200"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="650"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-800"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-20"/>
<define name="PSI_PGAIN" value="800"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="20"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
conf/airframes/NoVa_L.xml
+18 -18
View File
@@ -143,17 +143,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- gaui props
<define name="PHI_PGAIN" value="-900"/>
<define name="PHI_DGAIN" value="-200"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="900"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-900"/>
<define name="THETA_DGAIN" value="-200"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="900"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-900"/>
<define name="PSI_DGAIN" value="-200"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="900"/>
<define name="PSI_DGAIN" value="200"/>
<define name="PSI_IGAIN" value="10"/>
<define name="PHI_DDGAIN" value=" 200"/>
<define name="THETA_DDGAIN" value=" 200"/>
@@ -161,17 +161,17 @@
-->
<!-- feedback -->
<define name="PHI_PGAIN" value="-2000"/>
<define name="PHI_DGAIN" value="-400"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="2000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-2000"/>
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="2000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-2000"/>
<define name="PSI_DGAIN" value="-400"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="2000"/>
<define name="PSI_DGAIN" value="400"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
+18 -18
View File
@@ -108,30 +108,30 @@
<!-- feedback gains for better endurance -->
<!--
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-400"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-380"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-75"/>
<define name="PSI_PGAIN" value="380"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="75"/>
-->
<!-- feedback gains for better performance -->
<define name="PHI_PGAIN" value="-2000"/>
<define name="PHI_DGAIN" value="-400"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="2000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-2000"/>
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="2000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-1000"/>
<define name="PSI_DGAIN" value="-350"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="1000"/>
<define name="PSI_DGAIN" value="350"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
+18 -18
View File
@@ -109,31 +109,31 @@
<!-- feedback gains for better endurance -->
<!--
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-400"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-380"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-75"/>
<define name="PSI_PGAIN" value="380"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="75"/>
-->
<!-- feedback gains for better performance -->
<define name="PHI_PGAIN" value="-2000"/>
<define name="PHI_DGAIN" value="-400"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="2000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-2000"/>
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="2000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-1000"/>
<define name="PSI_DGAIN" value="-350"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="1000"/>
<define name="PSI_DGAIN" value="350"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
conf/airframes/Poine/booz2_a1.xml
+9 -9
View File
@@ -122,17 +122,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-400"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-380"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-75"/>
<define name="PSI_PGAIN" value="380"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="75"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
conf/airframes/Poine/booz2_a1p.xml
+9 -9
View File
@@ -120,17 +120,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-400"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-380"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-75"/>
<define name="PSI_PGAIN" value="380"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="75"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
conf/airframes/Poine/booz2_a7.xml
+18 -18
View File
@@ -115,17 +115,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- gaui props
<define name="PHI_PGAIN" value="-900"/>
<define name="PHI_DGAIN" value="-200"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="900"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-900"/>
<define name="THETA_DGAIN" value="-200"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="900"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-900"/>
<define name="PSI_DGAIN" value="-200"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="900"/>
<define name="PSI_DGAIN" value="200"/>
<define name="PSI_IGAIN" value="10"/>
<define name="PHI_DDGAIN" value=" 200"/>
<define name="THETA_DDGAIN" value=" 200"/>
@@ -133,17 +133,17 @@
-->
<!-- feedback -->
<define name="PHI_PGAIN" value="-2000"/>
<define name="PHI_DGAIN" value="-400"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="2000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-2000"/>
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="2000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-2000"/>
<define name="PSI_DGAIN" value="-400"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="2000"/>
<define name="PSI_DGAIN" value="400"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
conf/airframes/Poine/h_hex.xml
+9 -9
View File
@@ -117,17 +117,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-400"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-380"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-75"/>
<define name="PSI_PGAIN" value="380"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="75"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
conf/airframes/UofAdelaide/A1000_BOOZ.xml
+9 -9
View File
@@ -196,17 +196,17 @@ second attempt
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-400"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-380"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-75"/>
<define name="PSI_PGAIN" value="380"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="75"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
conf/airframes/UofAdelaide/A1000_LISA.xml
+16 -16
View File
@@ -115,13 +115,13 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback
<define name="PHI_PGAIN" value="-5000"/>
<define name="PHI_DGAIN" value="-400"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="5000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-5000"/>
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-400"/>
<define name="THETA_PGAIN" value="5000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="400"/>
<define name="PSI_PGAIN" value="2000"/>
<define name="PSI_DGAIN" value="350"/>
@@ -130,20 +130,20 @@
feedforward
<define name="PHI_DDGAIN" value=" 300"/>
<define name="THETA_DDGAIN" value=" 300"/>
<define name="PSI_DDGAIN" value=" -300"/> -->
<define name="PSI_DDGAIN" value="300"/> -->
<!-- feedback -->
<define name="PHI_PGAIN" value="-1500"/>
<define name="PHI_DGAIN" value="-30"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="1500"/>
<define name="PHI_DGAIN" value="30"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-1500"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="1500"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-1000"/>
<define name="PSI_DGAIN" value="-300"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="1000"/>
<define name="PSI_DGAIN" value="300"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
conf/airframes/UofAdelaide/A1000_NOVA.xml
+18 -18
View File
@@ -119,30 +119,30 @@
<!-- feedback -->
<!--
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-400"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-380"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-75"/>
<define name="PSI_PGAIN" value="380"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="75"/>
-->
<define name="PHI_PGAIN" value="-1000"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="1000"/>
<define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-1000"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="1000"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-1000"/>
<define name="PSI_DGAIN" value="-350"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="1000"/>
<define name="PSI_DGAIN" value="350"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
+18 -18
View File
@@ -119,30 +119,30 @@
<!-- feedback -->
<!--
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-400"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-380"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-75"/>
<define name="PSI_PGAIN" value="380"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="75"/>
-->
<define name="PHI_PGAIN" value="-1000"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="1000"/>
<define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-1000"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="1000"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-1000"/>
<define name="PSI_DGAIN" value="-350"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="1000"/>
<define name="PSI_DGAIN" value="350"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
conf/airframes/UofAdelaide/booz2_a1000.xml
+9 -9
View File
@@ -196,17 +196,17 @@ second attempt
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-400"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-380"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-75"/>
<define name="PSI_PGAIN" value="380"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="75"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
conf/airframes/UofAdelaide/lisa_a1000.xml
+9 -9
View File
@@ -112,17 +112,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-2000"/>
<define name="PHI_DGAIN" value="-400"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="2000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-2000"/>
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-400"/>
<define name="THETA_PGAIN" value="2000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="400"/>
<define name="PSI_PGAIN" value="-1000"/>
<define name="PSI_DGAIN" value="-350"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="1000"/>
<define name="PSI_DGAIN" value="350"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
conf/airframes/booz2_flixr.xml
+9 -9
View File
@@ -166,17 +166,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)" />
<!-- feedback -->
<define name="PHI_PGAIN" value="-1000" />
<define name="PHI_DGAIN" value="-300" />
<define name="PHI_IGAIN" value="-100" />
<define name="PHI_PGAIN" value="1000" />
<define name="PHI_DGAIN" value="300" />
<define name="PHI_IGAIN" value="100" />
<define name="THETA_PGAIN" value="-1000" />
<define name="THETA_DGAIN" value="-300" />
<define name="THETA_IGAIN" value="-100" />
<define name="THETA_PGAIN" value="1000" />
<define name="THETA_DGAIN" value="300" />
<define name="THETA_IGAIN" value="100" />
<define name="PSI_PGAIN" value="-500" />
<define name="PSI_DGAIN" value="-320" />
<define name="PSI_IGAIN" value="-75" />
<define name="PSI_PGAIN" value="500" />
<define name="PSI_DGAIN" value="320" />
<define name="PSI_IGAIN" value="75" />
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300" />
conf/airframes/booz2_ppzuav.xml
+18 -18
View File
@@ -104,30 +104,30 @@
<!-- feedback -->
<!--
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-400"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-380"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-75"/>
<define name="PSI_PGAIN" value="380"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="75"/>
-->
<define name="PHI_PGAIN" value="-1000"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="1000"/>
<define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-1000"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="1000"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-1000"/>
<define name="PSI_DGAIN" value="-350"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="1000"/>
<define name="PSI_DGAIN" value="350"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
conf/airframes/esden/jt_lisam.xml
+9 -9
View File
@@ -108,17 +108,17 @@
<define name="REF_MAX_PDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PSI_PGAIN" value="-750"/>
<define name="PSI_DGAIN" value="-370"/>
<define name="PSI_IGAIN" value="-100"/>
<define name="PSI_PGAIN" value="750"/>
<define name="PSI_DGAIN" value="370"/>
<define name="PSI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-800"/>
<define name="THETA_DGAIN" value="-240"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="800"/>
<define name="THETA_DGAIN" value="240"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PHI_PGAIN" value="-4000"/>
<define name="PHI_DGAIN" value="-600"/>
<define name="PHI_IGAIN" value="-10"/>
<define name="PHI_PGAIN" value="4000"/>
<define name="PHI_DGAIN" value="600"/>
<define name="PHI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
conf/airframes/esden/lisa_asctec.xml
+9 -9
View File
@@ -122,17 +122,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-900"/>
<define name="PHI_DGAIN" value="-200"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="900"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-900"/>
<define name="THETA_DGAIN" value="-200"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="900"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-900"/>
<define name="PSI_DGAIN" value="-200"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="900"/>
<define name="PSI_DGAIN" value="200"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 200"/>
conf/airframes/esden/lisa_asctec_aspirin.xml
+9 -9
View File
@@ -122,17 +122,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-900"/>
<define name="PHI_DGAIN" value="-200"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="900"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-900"/>
<define name="THETA_DGAIN" value="-200"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="900"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-900"/>
<define name="PSI_DGAIN" value="-200"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="900"/>
<define name="PSI_DGAIN" value="200"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 200"/>
conf/airframes/esden/lisa_m_pwm.xml
+9 -9
View File
@@ -136,17 +136,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-1000"/>
<define name="PHI_DGAIN" value="-400"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="1000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-1000"/>
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="1000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-1000"/>
<define name="PSI_DGAIN" value="-400"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="1000"/>
<define name="PSI_DGAIN" value="400"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
conf/airframes/esden/lisa_pwm_aspirin.xml
+9 -9
View File
@@ -110,17 +110,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-1900"/>
<define name="PHI_DGAIN" value="-380"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="1900"/>
<define name="PHI_DGAIN" value="380"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-1900"/>
<define name="THETA_DGAIN" value="-380"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="1900"/>
<define name="THETA_DGAIN" value="380"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-2000"/>
<define name="PSI_DGAIN" value="-400"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="2000"/>
<define name="PSI_DGAIN" value="400"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
conf/airframes/esden/synerani_4B.xml
+9 -9
View File
@@ -113,17 +113,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-1900"/>
<define name="PHI_DGAIN" value="-380"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="1900"/>
<define name="PHI_DGAIN" value="380"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-1900"/>
<define name="THETA_DGAIN" value="-380"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="1900"/>
<define name="THETA_DGAIN" value="380"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-2000"/>
<define name="PSI_DGAIN" value="-400"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="2000"/>
<define name="PSI_DGAIN" value="400"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
conf/airframes/mm/rotor/qmk1.xml
+9 -9
View File
@@ -122,17 +122,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-2000"/>
<define name="PHI_DGAIN" value="-400"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="2000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-2000"/>
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-400"/>
<define name="THETA_PGAIN" value="2000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="400"/>
<define name="PSI_PGAIN" value="-1000"/>
<define name="PSI_DGAIN" value="-350"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="1000"/>
<define name="PSI_DGAIN" value="350"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
conf/airframes/obsolete/booz2_Aron.xml
+9 -9
View File
@@ -114,17 +114,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-400"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-380"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-75"/>
<define name="PSI_PGAIN" value="380"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="75"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
conf/airframes/obsolete/booz2_NoVa.xml
+18 -18
View File
@@ -119,30 +119,30 @@
<!-- feedback -->
<!--
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-400"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-380"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-75"/>
<define name="PSI_PGAIN" value="380"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="75"/>
-->
<define name="PHI_PGAIN" value="-2000"/>
<define name="PHI_DGAIN" value="-400"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="2000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-2000"/>
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="2000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-1000"/>
<define name="PSI_DGAIN" value="-350"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="1000"/>
<define name="PSI_DGAIN" value="350"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
conf/airframes/obsolete/booz2_NoVa_001.xml
+18 -18
View File
@@ -119,30 +119,30 @@
<!-- feedback -->
<!--
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-400"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-380"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-75"/>
<define name="PSI_PGAIN" value="380"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="75"/>
-->
<define name="PHI_PGAIN" value="-1000"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="1000"/>
<define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-1000"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="1000"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-1000"/>
<define name="PSI_DGAIN" value="-350"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="1000"/>
<define name="PSI_DGAIN" value="350"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
conf/airframes/obsolete/booz2_NoVa_002.xml
+18 -18
View File
@@ -119,30 +119,30 @@
<!-- feedback -->
<!--
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-400"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-380"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-75"/>
<define name="PSI_PGAIN" value="380"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="75"/>
-->
<define name="PHI_PGAIN" value="-1000"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="1000"/>
<define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-1000"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="1000"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-1000"/>
<define name="PSI_DGAIN" value="-350"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="1000"/>
<define name="PSI_DGAIN" value="350"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
conf/airframes/obsolete/booz2_a2.xml
+9 -9
View File
@@ -108,17 +108,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-400"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-380"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-75"/>
<define name="PSI_PGAIN" value="380"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="75"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
conf/airframes/obsolete/booz2_a3.xml
+9 -9
View File
@@ -95,17 +95,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-375"/>
<define name="PHI_DGAIN" value="-250"/>
<define name="PHI_IGAIN" value="-50"/>
<define name="PHI_PGAIN" value="375"/>
<define name="PHI_DGAIN" value="250"/>
<define name="PHI_IGAIN" value="50"/>
<define name="THETA_PGAIN" value="-375"/>
<define name="THETA_DGAIN" value="-250"/>
<define name="THETA_IGAIN" value="-50"/>
<define name="THETA_PGAIN" value="375"/>
<define name="THETA_DGAIN" value="250"/>
<define name="THETA_IGAIN" value="50"/>
<define name="PSI_PGAIN" value="-300"/>
<define name="PSI_DGAIN" value="-130"/>
<define name="PSI_IGAIN" value="-50"/>
<define name="PSI_PGAIN" value="300"/>
<define name="PSI_DGAIN" value="130"/>
<define name="PSI_IGAIN" value="50"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
conf/airframes/obsolete/booz2_a4.xml
+3 -3
View File
@@ -84,10 +84,10 @@
<define name="PHI_THETA_DDGAIN" value=" 300"/>
<define name="PHI_THETA_IGAIN" value="-50"/>
<define name="PSI_PGAIN" value="-380"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_PGAIN" value="380"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_DDGAIN" value=" 300"/>
<define name="PSI_IGAIN" value="-50"/>
<define name="PSI_IGAIN" value="50"/>
</section>
conf/airframes/obsolete/booz2_a5.xml
+9 -9
View File
@@ -118,17 +118,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-400"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-380"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-75"/>
<define name="PSI_PGAIN" value="380"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="75"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
conf/airframes/obsolete/booz2_s1.xml
+9 -9
View File
@@ -110,17 +110,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-1200"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="1200"/>
<define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-1200"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="1200"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-800"/>
<define name="PSI_DGAIN" value="-300"/>
<define name="PSI_IGAIN" value="-200"/>
<define name="PSI_PGAIN" value="800"/>
<define name="PSI_DGAIN" value="300"/>
<define name="PSI_IGAIN" value="200"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
conf/airframes/obsolete/booz2_x1.xml
+9 -9
View File
@@ -121,17 +121,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-400"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-380"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-75"/>
<define name="PSI_PGAIN" value="380"/>
<define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="75"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.c
+14 -14
View File
@@ -42,24 +42,24 @@ void stabilization_attitude_init(void) {
stabilization_attitude_ref_init();
VECT3_ASSIGN(stabilization_gains.p,
STABILIZATION_ATTITUDE_FLOAT_PHI_PGAIN,
STABILIZATION_ATTITUDE_FLOAT_THETA_PGAIN,
STABILIZATION_ATTITUDE_FLOAT_PSI_PGAIN);
ABS(STABILIZATION_ATTITUDE_FLOAT_PHI_PGAIN),
ABS(STABILIZATION_ATTITUDE_FLOAT_THETA_PGAIN),
ABS(STABILIZATION_ATTITUDE_FLOAT_PSI_PGAIN));
VECT3_ASSIGN(stabilization_gains.d,
STABILIZATION_ATTITUDE_FLOAT_PHI_DGAIN,
STABILIZATION_ATTITUDE_FLOAT_THETA_DGAIN,
STABILIZATION_ATTITUDE_FLOAT_PSI_DGAIN);
ABS(STABILIZATION_ATTITUDE_FLOAT_PHI_DGAIN),
ABS(STABILIZATION_ATTITUDE_FLOAT_THETA_DGAIN),
ABS(STABILIZATION_ATTITUDE_FLOAT_PSI_DGAIN));
VECT3_ASSIGN(stabilization_gains.i,
STABILIZATION_ATTITUDE_FLOAT_PHI_IGAIN,
STABILIZATION_ATTITUDE_FLOAT_THETA_IGAIN,
STABILIZATION_ATTITUDE_FLOAT_PSI_IGAIN);
ABS(STABILIZATION_ATTITUDE_FLOAT_PHI_IGAIN),
ABS(STABILIZATION_ATTITUDE_FLOAT_THETA_IGAIN),
ABS(STABILIZATION_ATTITUDE_FLOAT_PSI_IGAIN));
VECT3_ASSIGN(stabilization_gains.dd,
STABILIZATION_ATTITUDE_FLOAT_PHI_DDGAIN,
STABILIZATION_ATTITUDE_FLOAT_THETA_DDGAIN,
STABILIZATION_ATTITUDE_FLOAT_PSI_DDGAIN);
ABS(STABILIZATION_ATTITUDE_FLOAT_PHI_DDGAIN),
ABS(STABILIZATION_ATTITUDE_FLOAT_THETA_DDGAIN),
ABS(STABILIZATION_ATTITUDE_FLOAT_PSI_DDGAIN));
FLOAT_EULERS_ZERO( stabilization_att_sum_err );
@@ -100,7 +100,7 @@ void stabilization_attitude_run(bool_t in_flight) {
struct FloatEulers att_float;
EULERS_FLOAT_OF_BFP(att_float, ahrs.ltp_to_body_euler);
struct FloatEulers att_err;
EULERS_DIFF(att_err, att_float, stab_att_ref_euler);
EULERS_DIFF(att_err, stab_att_ref_euler, att_float);
FLOAT_ANGLE_NORMALIZE(att_err.psi);
if (in_flight) {
@@ -116,7 +116,7 @@ void stabilization_attitude_run(bool_t in_flight) {
struct FloatRates rate_float;
RATES_FLOAT_OF_BFP(rate_float, ahrs.body_rate);
struct FloatRates rate_err;
RATES_DIFF(rate_err, rate_float, stab_att_ref_rate);
RATES_DIFF(rate_err, stab_att_ref_rate, rate_float);
/* PID */
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c
+14 -14
View File
@@ -42,24 +42,24 @@ void stabilization_attitude_init(void) {
VECT3_ASSIGN(stabilization_gains.p,
STABILIZATION_ATTITUDE_PHI_PGAIN,
STABILIZATION_ATTITUDE_THETA_PGAIN,
STABILIZATION_ATTITUDE_PSI_PGAIN);
ABS(STABILIZATION_ATTITUDE_PHI_PGAIN),
ABS(STABILIZATION_ATTITUDE_THETA_PGAIN),
ABS(STABILIZATION_ATTITUDE_PSI_PGAIN));
VECT3_ASSIGN(stabilization_gains.d,
STABILIZATION_ATTITUDE_PHI_DGAIN,
STABILIZATION_ATTITUDE_THETA_DGAIN,
STABILIZATION_ATTITUDE_PSI_DGAIN);
ABS(STABILIZATION_ATTITUDE_PHI_DGAIN),
ABS(STABILIZATION_ATTITUDE_THETA_DGAIN),
ABS(STABILIZATION_ATTITUDE_PSI_DGAIN));
VECT3_ASSIGN(stabilization_gains.i,
STABILIZATION_ATTITUDE_PHI_IGAIN,
STABILIZATION_ATTITUDE_THETA_IGAIN,
STABILIZATION_ATTITUDE_PSI_IGAIN);
ABS(STABILIZATION_ATTITUDE_PHI_IGAIN),
ABS(STABILIZATION_ATTITUDE_THETA_IGAIN),
ABS(STABILIZATION_ATTITUDE_PSI_IGAIN));
VECT3_ASSIGN(stabilization_gains.dd,
STABILIZATION_ATTITUDE_PHI_DDGAIN,
STABILIZATION_ATTITUDE_THETA_DDGAIN,
STABILIZATION_ATTITUDE_PSI_DDGAIN);
ABS(STABILIZATION_ATTITUDE_PHI_DDGAIN),
ABS(STABILIZATION_ATTITUDE_THETA_DDGAIN),
ABS(STABILIZATION_ATTITUDE_PSI_DDGAIN));
INT_EULERS_ZERO( stabilization_att_sum_err );
@@ -108,7 +108,7 @@ void stabilization_attitude_run(bool_t in_flight) {
OFFSET_AND_ROUND(stab_att_ref_euler.theta, (REF_ANGLE_FRAC - INT32_ANGLE_FRAC)),
OFFSET_AND_ROUND(stab_att_ref_euler.psi, (REF_ANGLE_FRAC - INT32_ANGLE_FRAC)) };
struct Int32Eulers att_err;
EULERS_DIFF(att_err, ahrs.ltp_to_body_euler, att_ref_scaled);
EULERS_DIFF(att_err, att_ref_scaled, ahrs.ltp_to_body_euler);
INT32_ANGLE_NORMALIZE(att_err.psi);
if (in_flight) {
@@ -126,7 +126,7 @@ void stabilization_attitude_run(bool_t in_flight) {
OFFSET_AND_ROUND(stab_att_ref_rate.q, (REF_RATE_FRAC - INT32_RATE_FRAC)),
OFFSET_AND_ROUND(stab_att_ref_rate.r, (REF_RATE_FRAC - INT32_RATE_FRAC)) };
struct Int32Rates rate_err;
RATES_DIFF(rate_err, ahrs.body_rate, rate_ref_scaled);
RATES_DIFF(rate_err, rate_ref_scaled, ahrs.body_rate);
/* PID */
stabilization_att_fb_cmd[COMMAND_ROLL] =