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fixedwing energy_ctrl

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rate limiter with GS protect
rate limiter now in m/s/s (AIRSPEED_SETPOINT_SLEW)
fix in init
This commit is contained in:
Tobias Muench
2013-05-06 18:18:17 +02:00
parent 841dfe842c
commit 61512c26a4
2 changed files with 19 additions and 19 deletions
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conf/airframes/examples/Twinstar_energyadaptive.xml
+2 -1
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@@ -156,7 +156,7 @@ twog_1.0 + aspirin + ETS baro + ETS speed
<define name="GLIDE_AIRSPEED" value="12." unit="m/s"/>
<define name="RACE_AIRSPEED" value="25." unit="m/s"/>
<define name="STALL_AIRSPEED" value="8." unit="m/s"/>
<define name="AIRSPEED_SETPOINT_SLEW" value="1" unit="s"/> <!--default is 1-->
<define name="AIRSPEED_SETPOINT_SLEW" value="0.2" unit="m/s/s"/> <!--default is 1-->
<define name="CARROT" value="4." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
@@ -183,6 +183,7 @@ twog_1.0 + aspirin + ETS baro + ETS speed
<define name="ALTITUDE_MAX_CLIMB" value="5."/> <!--default 2-->
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.3"/>
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_PITCH" value="0."/> <!-- default 0 -->
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.15"/>