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separated booz ahrs settings from the rest of the booz settings

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This commit is contained in:
Felix Ruess
2009-07-28 12:35:04 +00:00
parent d278fef4e9
commit 6017c2d753
5 changed files with 24 additions and 71 deletions
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conf/conf.xml.example
+1 -1
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@@ -12,7 +12,7 @@
radio="radios/cockpitSX.xml"
telemetry="telemetry/telemetry_booz2.xml"
flight_plan="flight_plans/dummy.xml"
settings="settings/settings_booz2.xml"
settings="settings/settings_booz2.xml settings/settings_booz2_ahrs_cmpl.xml"
gui_color="white"
/>
conf/settings/settings_booz2.xml
-6
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@@ -54,12 +54,6 @@
shortname="ki" handler="SetKi"/>
</dl_settings>
<dl_settings NAME="Filter">
<dl_setting var="booz2_face_reinj_1" min="512" step="512" max="262144" module="ahrs/booz2_filter_attitude_cmpl_euler" shortname="reinj_1"/>
</dl_settings>
<dl_settings NAME="Analog Baro">
<dl_setting var="booz2_analog_baro_offset" min="1" step="1" max="1022" module="booz2_analog_baro" handler="SetOffset" shortname="offset"/>
</dl_settings>
conf/settings/settings_booz2_ahrs_cmpl.xml
+11
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@@ -0,0 +1,11 @@
<!DOCTYPE settings SYSTEM "settings.dtd">
<settings>
<dl_settings>
<dl_settings NAME="Filter">
<dl_setting var="booz2_face_reinj_1" min="512" step="512" max="262144" module="ahrs/booz2_filter_attitude_cmpl_euler" shortname="reinj_1"/>
</dl_settings>
</dl_settings>
</settings>
conf/settings/settings_booz2_ahrs_lkf.xml
+12
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@@ -0,0 +1,12 @@
<!DOCTYPE settings SYSTEM "settings.dtd">
<settings>
<dl_settings>
<dl_settings NAME="Filter">
<dl_setting var="bafl_sigma_accel" min="0.1" step="0.1" max="100.0" module="ahrs/booz_ahrs_float_lkf" shortname="sigma_accel" handler="SetRaccel"/>
<dl_setting var="bafl_sigma_mag" min="1.0" step="1.0" max="1000.0" module="ahrs/booz_ahrs_float_lkf" shortname="sigma_mag" handler="SetRmag"/>
</dl_settings>
</dl_settings>
</settings>
conf/settings/settings_booz2_lkf.xml
-64
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@@ -1,64 +0,0 @@
<!DOCTYPE settings SYSTEM "settings.dtd">
<settings>
<dl_settings>
<dl_settings NAME="Misc">
<dl_setting var="telemetry_mode_Main" min="0" step="1" max="11" module="booz2_telemetry" shortname="telemetry" values="Default|PPM|Raw sensors|Scaled sensors|AHRS|Rate loop|Att loop|Vert loop|H loop|Aligner|HS_att_roll|Tune_hover"/>
<dl_setting var="booz2_autopilot_mode_auto2" min="0" step="1" max="12" module="booz2_autopilot" shortname="auto2" values="Fail|Kill|Rate|Att|Rate_rcC|Att_rcC|Att_C|Rate_Z|Att_Z|Hover|Hover_C|Hover_Z|Nav"/>
<dl_setting var="booz2_autopilot_tol" min="0" step="1" max="2" module="booz2_autopilot" shortname="tol" values="RIEN|TO|LA" handler="SetTol"/>
</dl_settings>
<dl_settings NAME="Rate Loop">
<dl_setting var="booz_stabilization_rate_gain.p" min="-1000" step="1" max="-1" module="stabilization/booz_stabilization_rate" shortname="gain p"/>
<dl_setting var="booz_stabilization_rate_gain.q" min="-1000" step="1" max="-1" module="stabilization/booz_stabilization_rate" shortname="gain q"/>
<dl_setting var="booz_stabilization_rate_gain.r" min="-1000" step="1" max="-1" module="stabilization/booz_stabilization_rate" shortname="gain r"/>
</dl_settings>
<dl_settings NAME="Att Loop">
<dl_setting var="booz_stabilization_pgain.x" min="-4000" step="1" max="-1" module="stabilization/booz_stabilization_attitude" shortname="pgain phi" />
<dl_setting var="booz_stabilization_dgain.x" min="-4000" step="1" max="-1" module="stabilization/booz_stabilization_attitude" shortname="dgain p"/>
<dl_setting var="booz_stabilization_igain.x" min="-300" step="1" max="0" module="stabilization/booz_stabilization_attitude" shortname="igain phi" handler="SetKiPhi"/>
<dl_setting var="booz_stabilization_ddgain.x" min="0" step="1" max="1000" module="stabilization/booz_stabilization_attitude" shortname="ddgain p"/>
<dl_setting var="booz_stabilization_pgain.y" min="-4000" step="1" max="-1" module="stabilization/booz_stabilization_attitude" shortname="pgain tetha"/>
<dl_setting var="booz_stabilization_dgain.y" min="-4000" step="1" max="-1" module="stabilization/booz_stabilization_attitude" shortname="dgain q"/>
<dl_setting var="booz_stabilization_igain.y" min="-300" step="1" max="0" module="stabilization/booz_stabilization_attitude" shortname="igain theta"/>
<dl_setting var="booz_stabilization_ddgain.y" min="0" step="1" max="500" module="stabilization/booz_stabilization_attitude" shortname="ddgain q"/>
<dl_setting var="booz_stabilization_pgain.z" min="-4000" step="1" max="-1" module="stabilization/booz_stabilization_attitude" shortname="pgain psi"/>
<dl_setting var="booz_stabilization_dgain.z" min="-4000" step="1" max="-1" module="stabilization/booz_stabilization_attitude" shortname="dgain r"/>
<dl_setting var="booz_stabilization_igain.z" min="-300" step="1" max="0" module="stabilization/booz_stabilization_attitude" shortname="igain psi"/>
<dl_setting var="booz_stabilization_ddgain.z" min="0" step="1" max="1000" module="stabilization/booz_stabilization_attitude" shortname="ddgain r"/>
</dl_settings>
<dl_settings NAME="Vert Loop">
<dl_setting var="booz2_guidance_v_kp" min="-600" step="1" max="0" module="guidance/booz2_guidance_v" shortname="kp"/>
<dl_setting var="booz2_guidance_v_kd" min="-600" step="1" max="0" module="guidance/booz2_guidance_v" shortname="kd"/>
<dl_setting var="booz2_guidance_v_z_sp" min="-5" step="0.5" max="3" module="guidance/booz2_guidance_v"
shortname="sp" unit="2e-8m" alt_unit="m" alt_unit_coef="0.00390625"/>
<dl_setting var="booz_ins_vff_realign" min="0" step="1" max="1" module="booz2_ins" shortname="vff_realign" values="OFF|ON"/>
</dl_settings>
<dl_settings NAME="Horiz Loop">
<dl_setting var="booz2_guidance_h_pos_sp.x" MIN="-10" MAX="10" STEP="1" module="guidance/booz2_guidance_h"
shortname="sp_x_ned" unit="1/2^8m" alt_unit="m" alt_unit_coef="0.00390625"/>
<dl_setting var="booz2_guidance_h_pos_sp.y" MIN="-10" MAX="10" STEP="1" module="guidance/booz2_guidance_h"
shortname="sp_y_ned" unit="1/2^8m" alt_unit="m" alt_unit_coef="0.00390625"/>
<dl_setting var="booz2_guidance_h_psi_sp" MIN="-180" MAX="180" STEP="5" module="guidance/booz2_guidance_h"
shortname="sp_psi" unit="1/2^20r" alt_unit="deg" alt_unit_coef="0.000054641513360"/>
<dl_setting var="booz2_guidance_h_pgain" min="-400" step="1" max="0" module="guidance/booz2_guidance_h"
shortname="kp"/>
<dl_setting var="booz2_guidance_h_dgain" min="-400" step="1" max="0" module="guidance/booz2_guidance_h"
shortname="kd"/>
<dl_setting var="booz2_guidance_h_igain" min="-400" step="1" max="0" module="guidance/booz2_guidance_h"
shortname="ki" handler="SetKi"/>
</dl_settings>
<dl_settings NAME="Analog Baro">
<dl_setting var="booz2_analog_baro_offset" min="1" step="1" max="1022" module="booz2_analog_baro" handler="SetOffset" shortname="offset"/>
</dl_settings>
</dl_settings>
</settings>