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Proper comments in nav_skid_landing.xml

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`<section>` instead of `@verbatim` as @flixr suggested
This commit is contained in:
Michal Podhradsky
2016-06-20 14:21:44 -07:00
committed by GitHub
parent b164c2204d
commit 6c19fe313d
1 changed files with 17 additions and 29 deletions
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conf/modules/nav_skid_landing.xml
+17 -29
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@@ -9,39 +9,27 @@
1) circle down passing AF waypoint (from left or right)
2) once low enough follow line to TD waypoint
3) once low enough flare
Use this in your airfame config file:
<!--
Block example:
@verbatim
<section name="LANDING" prefix="SKID_LANDING_">
</description>
<section name="LANDING" prefix="SKID_LANDING_">
<define name="AF_HEIGHT" value="50" unit="m"/>
<define name="FINAL_HEIGHT" value="50" unit="m"/>
<define name="FINAL_STAGE_TIME" value="10" unit="s"/>
</section>
@endverbatim
-->
</section>
Also define
<!--
Block example:
@verbatim:
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="LANDING_THROTTLE_PGAIN" value="600.0"/>
<define name="LANDING_THROTTLE_IGAIN" value="10.0"/>
<define name="LANDING_THROTTLE_MAX" value="0.65"/>
<define name="LANDING_DESIRED_SPEED" value="18" unit="m/s"/>
<define name="LANDING_PITCH_PGAIN" value="0.1"/>
<define name="LANDING_PITCH_IGAIN" value="0.1"/>
<define name="LANDING_PITCH_LIMITS" value="0.2" unit="rad"/>
<define name="LANDING_PITCH_FLARE" value="0.06"/>
<define name="LANDING_ALT_THROTTLE_KILL" value="15" unit="m"/>
<define name="LANDING_ALT_FLARE" value="5" unit="m"/>
</section>
@endverbatim
-->
to properly use landing control loop
</description>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="LANDING_THROTTLE_PGAIN" value="600.0"/>
<define name="LANDING_THROTTLE_IGAIN" value="10.0"/>
<define name="LANDING_THROTTLE_MAX" value="0.65"/>
<define name="LANDING_DESIRED_SPEED" value="18" unit="m/s"/>
<define name="LANDING_PITCH_PGAIN" value="0.1"/>
<define name="LANDING_PITCH_IGAIN" value="0.1"/>
<define name="LANDING_PITCH_LIMITS" value="0.2" unit="rad"/>
<define name="LANDING_PITCH_FLARE" value="0.06"/>
<define name="LANDING_ALT_THROTTLE_KILL" value="15" unit="m"/>
<define name="LANDING_ALT_FLARE" value="5" unit="m"/>
</section>
</doc>
<settings>