From 7daf942692571e95ef322c9a9922f5817f4729cd Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Mon, 19 Dec 2011 21:02:29 +0100
Subject: [PATCH] fixed ctl_adaptive settings file and removed dash and loiter
 trim (also from settings ctrl_new)

---
 conf/settings/tuning_ctl_adaptive.xml     |  4 -
 conf/settings/tuning_ctl_new.xml          | 18 +----
 conf/settings/tuning_ctl_new_airspeed.xml | 90 +++++++++++++++++++++++
 3 files changed, 91 insertions(+), 21 deletions(-)
 create mode 100644 conf/settings/tuning_ctl_new_airspeed.xml

diff --git a/conf/settings/tuning_ctl_adaptive.xml b/conf/settings/tuning_ctl_adaptive.xml
index 6271f6aa9c..c51a014118 100644
--- a/conf/settings/tuning_ctl_adaptive.xml
+++ b/conf/settings/tuning_ctl_adaptive.xml
@@ -41,15 +41,11 @@
 
         <dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_pitch_pgain" shortname="pitch_p" param="V_CTL_AUTO_PITCH_PGAIN"/>
         <dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_pitch_igain" shortname="pitch_i" param="V_CTL_AUTO_PITCH_IGAIN"/>
-        <dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_pitch_dgain" shortname="pitch_d" param="V_CTL_AUTO_PITCH_DGAIN" module="guidance/guidance_v_n"/>
 
         <dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_p" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
         <dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_throttle_igain" shortname="throttle_i" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
         <dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_d" param="V_CTL_AUTO_THROTTLE_DGAIN"/>
 
-        <dl_setting MAX="0" MIN="-1." STEP="0.01" VAR="v_ctl_pitch_dash_trim" shortname="dash trim" param="V_CTL_PITCH_DASH_TRIM"/>
-        <dl_setting MIN="0" MAX="1." STEP="0.01" VAR="v_ctl_pitch_loiter_trim" shortname="loiter trim" param="V_CTL_PITCH_LOITER_TRIM"/>
-
         <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr" param="V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"/>
         <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz" param="V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"/>
       </dl_settings>
diff --git a/conf/settings/tuning_ctl_new.xml b/conf/settings/tuning_ctl_new.xml
index 38f5e825fe..192fdb2fe5 100644
--- a/conf/settings/tuning_ctl_new.xml
+++ b/conf/settings/tuning_ctl_new.xml
@@ -1,6 +1,6 @@
 <!DOCTYPE settings SYSTEM "settings.dtd">
 
-<!-- A conf to use to tune a new A/C -->
+<!-- A conf to use to tune a new A/C without airspeed -->
 
 <settings>
   <dl_settings>
@@ -52,26 +52,10 @@
         <dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_throttle_igain" shortname="throttle_i" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
         <dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_d" param="V_CTL_AUTO_THROTTLE_DGAIN"/>
 
-        <dl_setting MAX="0" MIN="-1." STEP="0.01" VAR="v_ctl_pitch_dash_trim" shortname="dash trim" param="V_CTL_PITCH_DASH_TRIM"/>
-        <dl_setting MIN="0" MAX="1." STEP="0.01" VAR="v_ctl_pitch_loiter_trim" shortname="loiter trim" param="V_CTL_PITCH_LOITER_TRIM"/>
-
         <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr" param="V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"/>
         <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz" param="V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"/>
       </dl_settings>
 
-      <dl_settings name="airspeed">
-        <dl_setting max="40" min="5" step="0.1" var="v_ctl_auto_airspeed_setpoint" shortname="as_sp"/>
-        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_airspeed_throttle_pgain" shortname="as_t_pgain"/>
-        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_airspeed_throttle_dgain" shortname="as_t_pgain"/>
-        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_airspeed_throttle_igain" shortname="as_t_igain"/>
-        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_airspeed_pitch_pgain" shortname="as_p_pgain"/>
-        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_airspeed_pitch_dgain" shortname="as_p_pgain"/>
-        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_airspeed_pitch_igain" shortname="as_p_igain"/>
-        <dl_setting max="40" min="5" step="0.1" var="v_ctl_auto_groundspeed_setpoint" shortname="gs_sp"/>
-        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_groundspeed_pgain" shortname="gs_pgain"/>
-        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_groundspeed_igain" shortname="gs_igain"/>
-      </dl_settings>
-
       <dl_settings name="nav">
         <dl_setting MAX="-0.1" MIN="-3" STEP="0.05" VAR="h_ctl_course_pgain" shortname="course pgain" param="H_CTL_COURSE_PGAIN"/>
         <dl_setting MAX="2" MIN="0" STEP="0.1" VAR="h_ctl_course_dgain" shortname="course dgain"/>
diff --git a/conf/settings/tuning_ctl_new_airspeed.xml b/conf/settings/tuning_ctl_new_airspeed.xml
new file mode 100644
index 0000000000..2d0a4177ca
--- /dev/null
+++ b/conf/settings/tuning_ctl_new_airspeed.xml
@@ -0,0 +1,90 @@
+<!DOCTYPE settings SYSTEM "settings.dtd">
+
+<!-- A conf to use to tune a new A/C with airspeed-->
+
+<settings>
+  <dl_settings>
+
+    <dl_settings NAME="control">
+      <dl_settings NAME="trim">
+        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="command_roll_trim" shortname="roll_trim" module="commands" param="COMMAND_ROLL_TRIM"/>
+        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="command_pitch_trim" shortname="pitch_trim" param="COMMAND_PITCH_TRIM"/>
+      </dl_settings>
+
+      <dl_settings NAME="attitude">
+        <dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll_pgain" param="H_CTL_ROLL_ATTITUDE_GAIN" module="stabilization/stabilization_attitude"/>
+        <dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll_dgain" param="H_CTL_ROLL_RATE_GAIN"/>
+        <dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_roll_igain" shortname="roll_igain" param="H_CTL_ROLL_IGAIN" handler="SetRollIGain"/>
+        <dl_setting MAX="0" MIN="-55000" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain" param="H_CTL_PITCH_PGAIN"/>
+        <dl_setting MAX="0" MIN="-55000" STEP="250" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/>
+        <dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_pitch_igain" shortname="pitch_igain" param="H_CTL_PITCH_IGAIN" handler="SetPitchIGain"/>
+        <dl_setting MAX=".3" MIN="0." STEP="0.001" VAR="h_ctl_pitch_of_roll" shortname="pitch_of_roll" param="H_CTL_PITCH_OF_ROLL"/>
+        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle" module="stabilization/stabilization_adaptive"/>
+
+        <dl_setting MAX="60" MIN="0" STEP="1" VAR="h_ctl_roll_max_setpoint" shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT" unit="rad" alt_unit="deg"/>
+        <dl_setting MAX="1" MIN="0" STEP="1" var="use_airspeed_ratio" values="FALSE|TRUE"/>
+      </dl_settings>
+
+      <dl_settings NAME="feedforward">
+        <dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_roll_Kffa" shortname="roll_Kffa" param="H_CTL_ROLL_KFFA"/>
+        <dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_roll_Kffd" shortname="roll_Kffd" param="H_CTL_ROLL_KFFD"/>
+        <dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_pitch_Kffa" shortname="pitch_Kffa" param="H_CTL_PITCH_KFFA"/>
+        <dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_pitch_Kffd" shortname="pitch_Kffd" param="H_CTL_PITCH_KFFD"/>
+      </dl_settings>
+
+      <dl_settings name="alt">
+        <dl_setting MAX="0" MIN="-0.2" STEP="0.01" VAR="v_ctl_altitude_pgain" shortname="alt_pgain" param="V_CTL_ALTITUDE_PGAIN"/>
+      </dl_settings>
+
+      <dl_settings name="climb">
+        <dl_setting MAX="2" MIN="0" STEP="1" var="v_ctl_speed_mode" shortname="speed mode" values="THROTTLE|AIRSPEED|GROUNDSPEED">
+          <strip_button name="TH" value="0" group="speed_mode"/>
+          <strip_button name="AS" value="1" group="speed_mode"/>
+          <strip_button name="GS" value="2" group="speed_mode"/>
+        </dl_setting>
+        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" module="guidance/guidance_v" handler="SetCruiseThrottle" param="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE"/>
+
+        <dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_pitch_pgain" shortname="pitch_p" param="V_CTL_AUTO_PITCH_PGAIN"/>
+        <dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_pitch_igain" shortname="pitch_i" param="V_CTL_AUTO_PITCH_IGAIN"/>
+        <dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_pitch_dgain" shortname="pitch_d" param="V_CTL_AUTO_PITCH_DGAIN" module="guidance/guidance_v_n"/>
+
+        <dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_p" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
+        <dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_throttle_igain" shortname="throttle_i" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
+        <dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_d" param="V_CTL_AUTO_THROTTLE_DGAIN"/>
+
+        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr" param="V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"/>
+        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz" param="V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"/>
+      </dl_settings>
+
+      <dl_settings name="airspeed">
+        <dl_setting max="40" min="5" step="0.1" var="v_ctl_auto_airspeed_setpoint" shortname="as_sp"/>
+        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_airspeed_throttle_pgain" shortname="as_t_pgain"/>
+        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_airspeed_throttle_dgain" shortname="as_t_pgain"/>
+        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_airspeed_throttle_igain" shortname="as_t_igain"/>
+        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_airspeed_pitch_pgain" shortname="as_p_pgain"/>
+        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_airspeed_pitch_dgain" shortname="as_p_pgain"/>
+        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_airspeed_pitch_igain" shortname="as_p_igain"/>
+        <dl_setting max="40" min="5" step="0.1" var="v_ctl_auto_groundspeed_setpoint" shortname="gs_sp"/>
+        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_groundspeed_pgain" shortname="gs_pgain"/>
+        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_groundspeed_igain" shortname="gs_igain"/>
+      </dl_settings>
+
+      <dl_settings name="nav">
+        <dl_setting MAX="-0.1" MIN="-3" STEP="0.05" VAR="h_ctl_course_pgain" shortname="course pgain" param="H_CTL_COURSE_PGAIN"/>
+        <dl_setting MAX="2" MIN="0" STEP="0.1" VAR="h_ctl_course_dgain" shortname="course dgain"/>
+        <dl_setting MAX="2" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pre_bank_correction" shortname="pre bank cor"/>
+        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="nav_glide_pitch_trim" shortname="glide pitch trim" param="NAV_GLIDE_PITCH_TRIM"/>
+        <dl_setting MAX="1" MIN="0.02" STEP="0.01" VAR="h_ctl_roll_slew" shortname="roll slew"/>
+        <dl_setting MAX="500" MIN="-500" STEP="5" VAR="nav_radius"/>
+        <dl_setting MAX="359" MIN="0" STEP="5" VAR="nav_course"/>
+        <dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
+        <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
+        <dl_setting MAX="20" MIN="-20" STEP="1" VAR="fp_pitch"/>
+        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
+        <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
+        <dl_setting MAX="0." MIN="-0.2" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
+        <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
+      </dl_settings>
+    </dl_settings>
+  </dl_settings>
+</settings>