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[airframe] Default Energy Gains Simulator

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dewagter
2014-05-09 16:37:27 +02:00
parent 1645e42089
commit 6fba4e4e39
1 changed files with 25 additions and 15 deletions
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conf/airframes/examples/MentorEnergy.xml
+25 -15
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@@ -192,24 +192,34 @@
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- power -->
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="0.104999996722"/>
<define name="ALTITUDE_PGAIN" value="0.183"/>
<define name="AIRSPEED_PGAIN" value="0.217"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
<define name="ALTITUDE_MAX_CLIMB" value="10."/>
<define name="MAX_ACCELERATION" value="2."/>
<define name="AIRSPEED_PGAIN" value="0."/>
<!-- energy -->
<define name="ENERGY_TOT_PGAIN" value="0.205"/>
<define name="ENERGY_TOT_IGAIN" value="0.403"/>
<define name="ENERGY_DIFF_PGAIN" value="0.403"/>
<define name="ENERGY_DIFF_IGAIN" value="0.259"/>
<define name="GLIDE_RATIO" value="7." />
<!-- auto throttle inner loop -->
<!-- auto throttle -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.36700001359"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.626999974251"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.518000006676" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.307000011206"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0." unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0."/>
<!-- extra's -->
<define name="AUTO_THROTTLE_OF_AIRSPEED_PGAIN" value="0.0"/>
<define name="AUTO_THROTTLE_OF_AIRSPEED_IGAIN" value="0.0"/>
<!-- extra's -->
<define name="AUTO_PITCH_OF_AIRSPEED_PGAIN" value="0.0"/>
<define name="AUTO_PITCH_OF_AIRSPEED_IGAIN" value="0.0"/>
<define name="AUTO_PITCH_OF_AIRSPEED_DGAIN" value="0.0"/>
@@ -222,15 +232,15 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="0.89200001955"/>
<define name="COURSE_DGAIN" value="0.273000001907"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="1.00800001621"/>
<define name="COURSE_PGAIN" value="0.89"/>
<define name="COURSE_DGAIN" value="0.27"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="1.0"/>
<define name="ROLL_MAX_SETPOINT" value="33.57" unit="deg"/>
<define name="PITCH_MAX_SETPOINT" value="28.65" unit="deg"/>
<define name="PITCH_MIN_SETPOINT" value="-28.65" unit="deg"/>
<define name="ROLL_MAX_SETPOINT" value="45" unit="deg"/>
<define name="PITCH_MAX_SETPOINT" value="50" unit="deg"/>
<define name="PITCH_MIN_SETPOINT" value="-50" unit="deg"/>
<define name="PITCH_PGAIN" value="12587.4130859"/>
<define name="PITCH_PGAIN" value="12000"/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1273.88500977"/>