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variable renaming

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This commit is contained in:
Pascal Brisset
2006-10-20 07:05:56 +00:00
parent c3df2e17a4
commit 44a19694fa
4 changed files with 311 additions and 24 deletions
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conf/airframes/microjet7.xml
+17 -8
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@@ -55,7 +55,7 @@
</section> </section>
<section name="INFRARED" prefix="IR_"> <section name="INFRARED" prefix="IR_">
<define name="ROLL_NEUTRAL_DEFAULT" value="6" unit="deg"/> <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="9" unit="deg"/> <define name="PITCH_NEUTRAL_DEFAULT" value="9" unit="deg"/>
<define name="DEFAULT_CONTRAST" value="200"/> <define name="DEFAULT_CONTRAST" value="200"/>
<define name="RAD_OF_IR_CONTRAST" value="0.75"/> <define name="RAD_OF_IR_CONTRAST" value="0.75"/>
@@ -67,6 +67,15 @@
<define name="ADC_ROLL_NEUTRAL" value="0"/> <define name="ADC_ROLL_NEUTRAL" value="0"/>
<define name="ADC_PITCH_NEUTRAL" value="-716"/> <define name="ADC_PITCH_NEUTRAL" value="-716"/>
<define name="ADC_TOP_NEUTRAL" value="512"/> <define name="ADC_TOP_NEUTRAL" value="512"/>
<define name="CORRECTION_UP" value="1."/>
<define name="CORRECTION_DOWN" value="1."/>
<define name="CORRECTION_LEFT" value="1."/>
<define name="CORRECTION_RIGHT" value="1."/>
est pi : 0.81
<define name="ALLOW_INVERTED" value="0"/>
</section> </section>
<section name="GYRO" prefix="GYRO_"> <section name="GYRO" prefix="GYRO_">
@@ -98,7 +107,7 @@
<!-- outer loop proportional gain --> <!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.03"/> <define name="ALTITUDE_PGAIN" value="-0.03"/>
<!-- outer loop saturation --> <!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="1."/> <define name="ALTITUDE_MAX_CLIMB" value="2."/>
<!-- auto throttle inner loop --> <!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_CRUISE_THROTTLE" value="0.40"/> <define name="AUTO_THROTTLE_CRUISE_THROTTLE" value="0.40"/>
@@ -119,7 +128,7 @@
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.4"/> <define name="COURSE_PGAIN" value="-0.4"/>
<define name="ROLL_MAX_SETPOINT" value="0.35" unit="radians"/> <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
<define name="ROLL_PGAIN" value="5000."/> <define name="ROLL_PGAIN" value="5000."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/> <define name="AILERON_OF_THROTTLE" value="0.0"/>
@@ -128,9 +137,9 @@
<!-- roll rate loop --> <!-- roll rate loop -->
<define name="ROLL_RATE_MODE_DEFAULT" value="1"/> <define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
<define name="ROLL_RATE_SETPOINT_PGAIN" value="-5.5"/> <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
<define name="ROLL_RATE_MAX_SETPOINT" value="200"/> <define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
<define name="ROLL_RATE_PGAIN" value="860."/> <define name="ROLL_RATE_PGAIN" value="1000."/>
<define name="ROLL_RATE_IGAIN" value="0."/> <define name="ROLL_RATE_IGAIN" value="0."/>
<define name="ROLL_RATE_DGAIN" value="0."/> <define name="ROLL_RATE_DGAIN" value="0."/>
<define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/> <define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
@@ -155,7 +164,7 @@
<section name="GYRO_GAINS"> <section name="GYRO_GAINS">
<define name="GYRO_MAX_RATE" value="200."/> <define name="GYRO_MAX_RATE" value="200."/>
<define name="ROLLRATESUM_NB_SAMPLES" value="60"/> <define name="ROLLRATESUM_NB_SAMPLES" value="64"/>
<define name="ALT_ROLL__PGAIN" value="1.0"/> <define name="ALT_ROLL__PGAIN" value="1.0"/>
<define name="ROLL_RATE_PGAIN" value="1000.0"/> <define name="ROLL_RATE_PGAIN" value="1000.0"/>
<define name="ROLL_RATE_IGAIN" value="0.0"/> <define name="ROLL_RATE_IGAIN" value="0.0"/>
@@ -227,7 +236,7 @@ ap.srcs += bomb.c
# Config for SITL simulation # Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP
sim.srcs += bomb.c sim.srcs += bomb.c
conf/airframes/slayer3.xml
Executable
+249
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@@ -0,0 +1,249 @@
<airframe name="Miraterre Test AC">
<!-- tiny airframe -->
<!-- commands section -->
<servos>
<servo name="AILEVON_RIGHT" no="0" min="1000" neutral="1433" max="2000"/>
<servo name="AILEVON_LEFT" no="1" min="2000" neutral="1527" max="1000"/>
<servo name="GAZ" no="2" min="1250" neutral="1262" max="1850"/>
</servos>
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
</commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
</rc_commands>
<section name="MIXER">
<define name="AILEVON_AILERON_RATE" value="0.8"/>
<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
</section>
<command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="GAZ" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
</command_laws>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.96"/>
<define name="MAX_PITCH" value="0.8"/>
</section>
<section name="adc" prefix="ADC_CHANNEL_">
<define name="IR1" value="ADC_1"/>
<define name="IR2" value="ADC_0"/>
<define name="IR_TOP" value="ADC_6"/>
<define name="IR_NB_SAMPLES" value="16"/>
<define name="VSUPPLY" value="ADC_7"/>
<define name="GYRO_ROLL" value="ADC_4"/>
<define name="GYRO_TEMP" value="ADC_5"/>
<define name="GYRO_NB_SAMPLES" value="16"/>
</section>
<section name="INFRARED" prefix="IR_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="DEFAULT_CONTRAST" value="200"/>
<define name="RAD_OF_IR_CONTRAST" value="0.75"/>
<linear name="RollOfIrs" arity="2" coeff1=".5" coeff2="0.5"/>
<linear name="PitchOfIrs" arity="2" coeff1="-0.5" coeff2="0.5"/>
<linear name="TopOfIr" arity="1" coeff1="-1"/>
<define name="RAD_OF_IR_MAX_VALUE" value="0.0045"/>
<define name="RAD_OF_IR_MIN_VALUE" value="0.00075"/>
<define name="ADC_ROLL_NEUTRAL" value="512"/>
<define name="ADC_PITCH_NEUTRAL" value="0"/>
<define name="ADC_TOP_NEUTRAL" value="512"/>
<define name="CORRECTION_UP" value="1.6"/>
<define name="CORRECTION_DOWN" value="1.4"/>
<define name="CORRECTION_LEFT" value="1."/>
<define name="CORRECTION_RIGHT" value="1."/>
est pi /4 : 0.9
<define name="ALLOW_INVERTED" value="1"/>
</section>
<section name="GYRO" prefix="GYRO_">
<define name="ADC_ROLL_NEUTRAL" value="478"/>
<define name="ADC_TEMP_NEUTRAL" value="802"/>
<define name="ADC_TEMP_SLOPE" value="0"/>
<define name="ROLL_SCALE" value="0.44"/>
<define name="ROLL_DIRECTION" value="1."/>
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="VOLTAGE_ADC_A" value="0.01818"/>
<define name="VOLTAGE_ADC_B" value="-0.09"/>
<define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
<define name="LOW_BATTERY" value="9.3" unit="V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="20." unit="m/s"/>
<define name="CARROT" value="3." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/>
<define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.065"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_CRUISE_THROTTLE" value="0.65"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.008"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.25"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.35"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.1"/>
<define name="AUTO_PITCH_IGAIN" value="0.025"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.5"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.5"/>
<define name="THROTTLE_SLEW" value="0.05"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.88"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="1."/>
<define name="ROLL_MAX_SETPOINT" value="0.73" unit="radians"/>
<define name="ROLL_PGAIN" value="10000."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-6000."/>
<define name="ELEVATOR_OF_ROLL" value="2000"/>
<!-- roll rate loop -->
<define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
<define name="ROLL_RATE_SETPOINT_PGAIN" value="-5.5"/>
<define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
<define name="ROLL_RATE_PGAIN" value="1000."/>
<define name="ROLL_RATE_IGAIN" value="0."/>
<define name="ROLL_RATE_DGAIN" value="0."/>
<define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
<define name="CLIMB_THROTTLE" value="1."/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="0.42"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="-0.5"/><!-- Pitch for Aggressive Decent -->
<define name="CLIMB_NAV_RATIO" value="0.5"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
<define name="DESCENT_NAV_RATIO" value="1.0"/>
</section>
<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
<define name="DEFAULT_GAZ" value="0." unit="%"/>
<define name="DEFAULT_ROLL" value="0.6" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="XBEE"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section>
<makefile>
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny.h\" -DLED -DTIME_LED=1
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
ap.srcs += commands.c
ap.CFLAGS += -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015
ap.srcs += $(SRC_ARCH)/servos_4015_hw.c actuators.c
ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
#TRANSPARENT ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
#TRANSPARENT ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
ap.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c
ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_2 -DUSE_AD0_3 -DUSE_AD1 -DUSE_AD1_3 -DUSE_AD1_5 -DUSE_AD1_2 -DUSE_AD1_4
ap.srcs += $(SRC_ARCH)/adc_hw.c
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
ap.srcs += gps_ubx.c gps.c
ap.CFLAGS += -DINFRARED
ap.srcs += infrared.c estimator.c
ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
ap.CFLAGS += -DGYRO -DADXRS150
ap.srcs += gyro.c
# Harware In The Loop
#ap.CFLAGS += -DHITL
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB
# a test program to setup actuators
setup_actuators.ARCHDIR = $(ARCHI)
setup_actuators.ARCH = arm7tdmi
setup_actuators.TARGET = setup_actuators
setup_actuators.TARGETDIR = setup_actuators
setup_actuators.CFLAGS += -DFBW -DCONFIG=\"tiny.h\" -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART0 -DUART0_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart0
setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4015_hw.c main.c
# a test program to tunnel between both uart
tunnel.ARCHDIR = $(ARCHI)
tunnel.ARCH = arm7tdmi
tunnel.TARGET = tunnel
tunnel.TARGETDIR = tunnel
tunnel.CFLAGS += -DFBW -DCONFIG=\"tiny.h\" -DLED -DTIME_LED=1
tunnel.srcs += $(SRC_ARCH)/uart_tunnel.c
</makefile>
</airframe>
conf/settings/settings.dtd
+1
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@@ -26,6 +26,7 @@ var CDATA #REQUIRED
min CDATA #REQUIRED min CDATA #REQUIRED
max CDATA #REQUIRED max CDATA #REQUIRED
step CDATA #IMPLIED step CDATA #IMPLIED
shortname CDATA #IMPLIED
> >
<!ATTLIST strip_button <!ATTLIST strip_button
conf/settings/tuning.xml
+43 -15
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@@ -5,33 +5,61 @@
<settings> <settings>
<dl_settings> <dl_settings>
<dl_settings NAME="flight params"> <dl_settings NAME="flight params">
<dl_setting MAX="2" MIN="0" STEP="1" VAR="light_mode"/> <dl_setting MAX="2000" MIN="0" STEP="10" VAR="v_ctl_flight_altitude" shortname="altitude"/>
<dl_setting MAX="1000" MIN="-50" STEP="10" VAR="altitude_shift"/> <!-- <dl_setting MAX="2" MIN="0" STEP="1" VAR="light_mode"/> -->
<dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_east"/> <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_east"/>
<dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_north"/> <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_north"/>
</dl_settings> </dl_settings>
<dl_settings NAME="mode"> <dl_settings NAME="mode">
<dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode"/> <dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode"/>
<dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/> <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
</dl_settings> </dl_settings>
<dl_settings NAME="control"> <dl_settings NAME="control">
<dl_settings NAME="ir">
<dl_setting MAX="0.3" MIN="-0.3" STEP="0.01" VAR="ir_roll_neutral" shortname="roll_neutral"/>
<dl_setting MAX="0.5" MIN="-0.3" STEP="0.01" VAR="ir_pitch_neutral" shortname="pitch_neutral"/>
<dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_left" shortname="corr_left"/>
<dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_right" shortname="corr_right"/>
<dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_up" shortname="corr_up"/>
<dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_down" shortname="corr_down"/>
<dl_setting MAX="1." MIN="0.1" STEP="0.05" VAR="estimated_phi_pi_4" shortname="est. phi pi/4"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="ir_allow_inverted" shortname="allow_inverted"/>
</dl_settings>
<dl_settings NAME="attitude"> <dl_settings NAME="attitude">
<dl_setting MAX="0.3" MIN="-0.3" STEP="0.01" VAR="ir_roll_neutral"/> <dl_setting MAX="15000" MIN="1000" STEP="250" VAR="h_ctl_roll_pgain" shortname="roll_pgain"/>
<dl_setting MAX="0.5" MIN="-0.3" STEP="0.01" VAR="ir_pitch_neutral"/> <dl_setting MAX="-1000" MIN="-15000" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain"/>
<dl_setting MAX="15000" MIN="1000" STEP="250" VAR="h_ctl_roll_pgain"/> <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll" shortname="elevator_of_roll"/>
<dl_setting MAX="15000" MIN="1000" STEP="250" VAR="h_ctl_pitch_pgain"/> <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
<dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll"/> </dl_settings>
<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment"/>
<dl_settings name="rate">
<dl_setting MAX="1" MIN="0" STEP="0.1" VAR="h_ctl_roll_rate_mode" shortname="mode"/>
<dl_setting MAX="2000" MIN="0" STEP="100" VAR="h_ctl_roll_rate_pgain" shortname="pgain"/>
<dl_setting MAX="0" MIN="-20" STEP="1" VAR="h_ctl_roll_rate_setpoint_pgain" shortname="roll_pgain"/>
</dl_settings>
<dl_settings name="alt">
<dl_setting MAX="0" MIN="-0.2" STEP="0.01" VAR="v_ctl_altitude_pgain" shortname="alt_pgain"/>
</dl_settings>
<dl_settings name="auto_throttle">
<dl_setting MAX="0.7" MIN="0.3" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle"/>
<dl_setting MAX="-0.01" MIN="-0.1" STEP="0.01" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain"/>
<dl_setting MAX="1" MIN="0.05" STEP="0.05" VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain"/>
<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr"/>
</dl_settings>
<dl_settings name="auto_pitch">
<dl_setting MAX="-0.01" MIN="-0.1" STEP="0.01" VAR="v_ctl_auto_pitch_pgain" shortname="pgain"/>
<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_pitch_igain" shortname="igain"/>
</dl_settings> </dl_settings>
<dl_settings name="nav"> <dl_settings name="nav">
<dl_setting MAX="0.7" MIN="0.3" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle"/> <dl_setting MAX="-0.1" MIN="-2" STEP="0.05" VAR="h_ctl_course_pgain" shortname="course pgain"/>
<dl_setting MAX="-0.01" MIN="-0.1" STEP="0.01" VAR="v_ctl_auto_throttle_pgain"/> <dl_setting MAX="2" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pre_bank_correction" shortname="pre bank cor"/>
<dl_setting MAX="1" MIN="0.05" STEP="0.05" VAR="v_ctl_auto_throttle_igain"/>
<dl_setting MAX="0" MIN="-0.1" STEP="0.01" VAR="v_ctl_altitude_pgain"/>
<dl_setting MAX="-0.1" MIN="-2" STEP="0.05" VAR="h_ctl_course_pgain"/>
<dl_setting MAX="-0.01" MIN="-0.1" STEP="0.01" VAR="v_ctl_auto_pitch_pgain"/>
<dl_setting MAX="0.1" MIN="0" STEP="0.01" VAR="v_ctl_auto_pitch_pgain"/>
</dl_settings> </dl_settings>
</dl_settings> </dl_settings>
</dl_settings> </dl_settings>