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This commit is contained in:
Antoine Drouin
2008-09-01 13:32:37 +00:00
parent d74058031c
commit 497563919d
2 changed files with 11 additions and 2 deletions
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conf/airframes/booz2.xml
+2 -2
View File
@@ -142,8 +142,8 @@
<section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
<define name="SP_MAX_PHI" value="4000"/>
<define name="SP_MAX_THETA" value="4000"/>
<define name="SP_MAX_PHI" value="3000"/>
<define name="SP_MAX_THETA" value="3000"/>
<define name="SP_MAX_R" value="5500"/>
<define name="DEADBAND_R" value="250"/>
conf/settings/settings_booz2.xml
+9
View File
@@ -21,6 +21,15 @@
<dl_setting var="booz_stabilization_dgain.x" min="-4000" step="1" max="-1" module="booz2_stabilization_attitude" shortname="dgain p"/>
<dl_setting var="booz_stabilization_dgain.y" min="-4000" step="1" max="-1" module="booz2_stabilization_attitude" shortname="dgain q"/>
<dl_setting var="booz_stabilization_dgain.z" min="-4000" step="1" max="-1" module="booz2_stabilization_attitude" shortname="dgain r"/>
<dl_setting var="booz_stabilization_igain.x" min="-300" step="1" max="0" module="booz2_stabilization_attitude" shortname="igain phi"/>
<dl_setting var="booz_stabilization_igain.y" min="-300" step="1" max="0" module="booz2_stabilization_attitude" shortname="igain theta"/>
<dl_setting var="booz_stabilization_igain.z" min="-300" step="1" max="0" module="booz2_stabilization_attitude" shortname="igain psi"/>
</dl_settings>
<dl_settings NAME="Vert Loop">
<dl_setting var="booz2_guidance_v_kp" min="-400" step="1" max="0" module="booz2_guidance_v" shortname="kp"/>
<dl_setting var="booz2_guidance_v_kd" min="-400" step="1" max="0" module="booz2_guidance_v" shortname="kd"/>
<dl_setting var="booz2_guidance_v_ki" min="-400" step="1" max="0" module="booz2_guidance_v" shortname="ki"/>
</dl_settings>