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add deadbands to rate mode

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Felix Ruess
2010-03-05 23:22:11 +00:00
parent a1147fe35b
commit 78b9cd3f12
2 changed files with 47 additions and 10 deletions
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conf/airframes/booz2_flixr.xml
+7 -3
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@@ -78,24 +78,28 @@
<section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
<!-- setpoints -->
<define name="SP_MAX_P" value="10000" />
<define name="SP_MAX_Q" value="10000" />
<define name="SP_MAX_R" value="10000" />
<define name="DEADBAND_P" value="0" />
<define name="DEADBAND_Q" value="0" />
<define name="DEADBAND_R" value="200" />
<define name="REF_TAU" value="4" />
<!-- feedback -->
<define name="GAIN_P" value="-400" />
<define name="GAIN_Q" value="-400" />
<define name="GAIN_R" value="-350" />
<!-- feedforward -->
<define name="IGAIN_P" value="-75" />
<define name="IGAIN_Q" value="-75" />
<define name="IGAIN_R" value="-50" />
<!-- feedforward -->
<define name="DDGAIN_P" value="300" />
<define name="DDGAIN_Q" value="300" />
<define name="DDGAIN_R" value="300" />
<define name="TAU" value="4" />
</section>