From 497563919d449ac0de16b3c5dbd0481dd36b7b0f Mon Sep 17 00:00:00 2001
From: Antoine Drouin <poinix@gmail.com>
Date: Mon, 1 Sep 2008 13:32:37 +0000
Subject: [PATCH] *** empty log message ***

---
 conf/airframes/booz2.xml         | 4 ++--
 conf/settings/settings_booz2.xml | 9 +++++++++
 2 files changed, 11 insertions(+), 2 deletions(-)

diff --git a/conf/airframes/booz2.xml b/conf/airframes/booz2.xml
index 404bd615ef..dfc8636255 100644
--- a/conf/airframes/booz2.xml
+++ b/conf/airframes/booz2.xml
@@ -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"/>
 
diff --git a/conf/settings/settings_booz2.xml b/conf/settings/settings_booz2.xml
index f1c3f351fc..86cbd6959d 100644
--- a/conf/settings/settings_booz2.xml
+++ b/conf/settings/settings_booz2.xml
@@ -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>