From a107375f8e4fd7a09a3cc0f33e0844e4cd56e743 Mon Sep 17 00:00:00 2001 From: Felix Ruess Date: Tue, 29 Nov 2011 20:11:32 +0100 Subject: [PATCH] changed h_ctl_roll_rate_gain to positive --- conf/airframes/CDW/ChimuLisaFw.xml | 2 +- conf/airframes/CDW/ChimuTinyFw.xml | 2 +- conf/airframes/CDW/ChimuTinyFwSpi.xml | 2 +- conf/airframes/ENAC/fixed-wing/firestorm.xml | 2 +- conf/airframes/ENAC/fixed-wing/funjet2.xml | 2 +- conf/airframes/ENAC/fixed-wing/funjet2_nc.xml | 2 +- conf/airframes/ENAC/fixed-wing/funjet2_new.xml | 2 +- conf/airframes/ENAC/fixed-wing/funjet3.xml | 2 +- conf/airframes/ENAC/fixed-wing/merlin.xml | 2 +- conf/airframes/ENAC/fixed-wing/obsolete/drops.xml | 2 +- conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml | 2 +- conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml | 2 +- conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml | 2 +- conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml | 2 +- conf/airframes/ENAC/fixed-wing/overview.xml | 2 +- conf/airframes/ENAC/fixed-wing/spocIII-1.xml | 2 +- conf/airframes/ENAC/fixed-wing/spocIII-2.xml | 2 +- conf/airframes/ENAC/fixed-wing/spocIII-3.xml | 2 +- conf/airframes/ENAC/fixed-wing/weasel.xml | 2 +- conf/airframes/Poine/easy_glider1.xml | 2 +- conf/airframes/TU_Delft/EasyStartPanTiltCHIMU_SPI.xml | 2 +- conf/airframes/TU_Delft/MicrojetBR.xml | 2 +- conf/airframes/TU_Delft/MicrojetBRimu.xml | 2 +- conf/airframes/TU_Delft/MicrojetCDW.xml | 2 +- conf/airframes/TU_Delft/Trip50A.xml | 2 +- conf/airframes/TU_Delft/skywalker.xml | 2 +- conf/airframes/TU_Delft/skywalkerfiber.xml | 2 +- conf/airframes/demo_module.xml | 2 +- conf/airframes/easy_glider_example.xml | 2 +- conf/airframes/easystar_ets_example.xml | 2 +- conf/airframes/easystar_example.xml | 2 +- conf/airframes/flixr_discovery.xml | 2 +- conf/airframes/jsbsim.xml | 2 +- conf/airframes/mentor_tum.xml | 2 +- conf/airframes/microjet_example.xml | 2 +- conf/airframes/mm/extra/press_t.xml | 2 +- conf/airframes/mm/extra/probe_t.xml | 2 +- conf/airframes/mm/fixed-wing/drops.xml | 2 +- conf/airframes/mm/fixed-wing/funjetdca.xml | 2 +- conf/airframes/mm/fixed-wing/funjetdcb.xml | 2 +- conf/airframes/mm/fixed-wing/funjetdcc.xml | 2 +- conf/airframes/mm/fixed-wing/funjeteth1.xml | 2 +- conf/airframes/mm/fixed-wing/funjeteth2.xml | 2 +- conf/airframes/mm/fixed-wing/funjetfmi1.xml | 2 +- conf/airframes/mm/fixed-wing/funjetfmi2.xml | 2 +- conf/airframes/mm/fixed-wing/funjetfmi3.xml | 2 +- conf/airframes/mm/fixed-wing/funjetgfi1.xml | 2 +- conf/airframes/mm/fixed-wing/funjetgfi4.xml | 2 +- conf/airframes/mm/fixed-wing/funjetgfi5.xml | 2 +- conf/airframes/mm/fixed-wing/funjetgfi6.xml | 2 +- conf/airframes/mm/fixed-wing/funjetgfi7.xml | 2 +- conf/airframes/mm/fixed-wing/funjetgfi9.xml | 2 +- conf/airframes/mm/fixed-wing/funjetmm.xml | 2 +- conf/airframes/mm/fixed-wing/funjetmm2.xml | 2 +- conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml | 2 +- conf/airframes/mm/fixed-wing/merlin.xml | 2 +- conf/airframes/mm/fixed-wing/miniwing.xml | 2 +- conf/airframes/mm/fixed-wing/slowfast.xml | 2 +- conf/airframes/mm/fixed-wing/slowfast2.xml | 2 +- conf/airframes/mm/fixed-wing/twinstarmm.xml | 2 +- conf/airframes/mm/hangar/lila.xml | 2 +- conf/airframes/obsolete/easystar2.xml | 2 +- conf/airframes/obsolete/hitl_usb.xml | 2 +- conf/airframes/obsolete/kalscott_easystar.xml | 2 +- conf/airframes/obsolete/malolo_sim.xml | 2 +- conf/airframes/obsolete/microjet5.xml | 2 +- conf/airframes/obsolete/microjet5_tp_auto.xml | 2 +- conf/airframes/obsolete/microjetI.xml | 2 +- conf/airframes/obsolete/microjetII.xml | 2 +- conf/airframes/obsolete/microjetIII.xml | 2 +- conf/airframes/obsolete/microjet_raw_makefile.xml | 2 +- conf/airframes/obsolete/slayerJH.xml | 2 +- conf/airframes/obsolete/slicer1.xml | 2 +- conf/airframes/obsolete/slicer2.xml | 2 +- conf/airframes/obsolete/spirit.xml | 2 +- conf/airframes/obsolete/spirit_proto.xml | 2 +- conf/airframes/obsolete/tiny_hitl.xml | 2 +- conf/airframes/obsolete/twinjet1.xml | 2 +- conf/airframes/obsolete/tyto1.xml | 2 +- conf/airframes/twinjet_example.xml | 2 +- conf/airframes/twinjet_overo.xml | 2 +- conf/settings/tuning.xml | 2 +- conf/settings/tuningJH.xml | 2 +- conf/settings/tuning_ctl_new.xml | 2 +- conf/settings/tuning_infrared.xml | 2 +- conf/settings/tuning_ins.xml | 2 +- conf/settings/tuning_ins_dcm.xml | 2 +- conf/settings/tuning_loiter.xml | 2 +- conf/settings/tuning_pers.xml | 2 +- conf/settings/tuning_tp_auto.xml | 2 +- .../fixedwing/stabilization/stabilization_adaptive.c | 8 ++++---- .../fixedwing/stabilization/stabilization_attitude.c | 4 ++-- 92 files changed, 96 insertions(+), 96 deletions(-) diff --git a/conf/airframes/CDW/ChimuLisaFw.xml b/conf/airframes/CDW/ChimuLisaFw.xml index 41182a1692..913735d4dc 100644 --- a/conf/airframes/CDW/ChimuLisaFw.xml +++ b/conf/airframes/CDW/ChimuLisaFw.xml @@ -102,7 +102,7 @@ - +
diff --git a/conf/airframes/CDW/ChimuTinyFw.xml b/conf/airframes/CDW/ChimuTinyFw.xml index 27d622c172..64fe437952 100644 --- a/conf/airframes/CDW/ChimuTinyFw.xml +++ b/conf/airframes/CDW/ChimuTinyFw.xml @@ -126,7 +126,7 @@ - +
diff --git a/conf/airframes/CDW/ChimuTinyFwSpi.xml b/conf/airframes/CDW/ChimuTinyFwSpi.xml index 508f7ca967..f025bdb22f 100644 --- a/conf/airframes/CDW/ChimuTinyFwSpi.xml +++ b/conf/airframes/CDW/ChimuTinyFwSpi.xml @@ -126,7 +126,7 @@ - +
diff --git a/conf/airframes/ENAC/fixed-wing/firestorm.xml b/conf/airframes/ENAC/fixed-wing/firestorm.xml index fac6de3035..58de7bf5ff 100644 --- a/conf/airframes/ENAC/fixed-wing/firestorm.xml +++ b/conf/airframes/ENAC/fixed-wing/firestorm.xml @@ -187,7 +187,7 @@ - + diff --git a/conf/airframes/ENAC/fixed-wing/funjet2.xml b/conf/airframes/ENAC/fixed-wing/funjet2.xml index 567fa816bb..d08f05c4d3 100644 --- a/conf/airframes/ENAC/fixed-wing/funjet2.xml +++ b/conf/airframes/ENAC/fixed-wing/funjet2.xml @@ -176,7 +176,7 @@ - + diff --git a/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml b/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml index 1b1e9c35f8..00b9fc079c 100644 --- a/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml +++ b/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml @@ -196,7 +196,7 @@ - + diff --git a/conf/airframes/ENAC/fixed-wing/funjet2_new.xml b/conf/airframes/ENAC/fixed-wing/funjet2_new.xml index 04ad7760dc..fa923d7b4d 100644 --- a/conf/airframes/ENAC/fixed-wing/funjet2_new.xml +++ b/conf/airframes/ENAC/fixed-wing/funjet2_new.xml @@ -196,7 +196,7 @@ - + diff --git a/conf/airframes/ENAC/fixed-wing/funjet3.xml b/conf/airframes/ENAC/fixed-wing/funjet3.xml index a4235cb1f2..4d63332ab4 100644 --- a/conf/airframes/ENAC/fixed-wing/funjet3.xml +++ b/conf/airframes/ENAC/fixed-wing/funjet3.xml @@ -173,7 +173,7 @@ - + diff --git a/conf/airframes/ENAC/fixed-wing/merlin.xml b/conf/airframes/ENAC/fixed-wing/merlin.xml index a57da73693..0e14f89944 100644 --- a/conf/airframes/ENAC/fixed-wing/merlin.xml +++ b/conf/airframes/ENAC/fixed-wing/merlin.xml @@ -157,7 +157,7 @@ - + diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml b/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml index 07346101f5..8063458015 100644 --- a/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml +++ b/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml @@ -171,7 +171,7 @@ on - + diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml b/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml index b5bd178ecb..bb92329b6f 100644 --- a/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml +++ b/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml @@ -154,7 +154,7 @@ - + diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml b/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml index 523147cf05..2a0102d11f 100644 --- a/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml +++ b/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml @@ -157,7 +157,7 @@ - +
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml b/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml index 35f6f3372d..32e1144284 100644 --- a/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml +++ b/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml @@ -156,7 +156,7 @@ - + diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml b/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml index ae81d5a26c..4d633cae3f 100644 --- a/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml +++ b/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml @@ -158,7 +158,7 @@ - + diff --git a/conf/airframes/ENAC/fixed-wing/overview.xml b/conf/airframes/ENAC/fixed-wing/overview.xml index 3d6cf763e1..d1e1abcec8 100644 --- a/conf/airframes/ENAC/fixed-wing/overview.xml +++ b/conf/airframes/ENAC/fixed-wing/overview.xml @@ -151,7 +151,7 @@ - + diff --git a/conf/airframes/ENAC/fixed-wing/spocIII-1.xml b/conf/airframes/ENAC/fixed-wing/spocIII-1.xml index f5831d5f7a..2cffe6c4b4 100644 --- a/conf/airframes/ENAC/fixed-wing/spocIII-1.xml +++ b/conf/airframes/ENAC/fixed-wing/spocIII-1.xml @@ -159,7 +159,7 @@ - + diff --git a/conf/airframes/ENAC/fixed-wing/spocIII-2.xml b/conf/airframes/ENAC/fixed-wing/spocIII-2.xml index 054860b627..698147c950 100644 --- a/conf/airframes/ENAC/fixed-wing/spocIII-2.xml +++ b/conf/airframes/ENAC/fixed-wing/spocIII-2.xml @@ -181,7 +181,7 @@ - + diff --git a/conf/airframes/ENAC/fixed-wing/spocIII-3.xml b/conf/airframes/ENAC/fixed-wing/spocIII-3.xml index 0e871955f6..4d299c976e 100644 --- a/conf/airframes/ENAC/fixed-wing/spocIII-3.xml +++ b/conf/airframes/ENAC/fixed-wing/spocIII-3.xml @@ -184,7 +184,7 @@ - + diff --git a/conf/airframes/ENAC/fixed-wing/weasel.xml b/conf/airframes/ENAC/fixed-wing/weasel.xml index f5906b258b..4e8b48cc9b 100644 --- a/conf/airframes/ENAC/fixed-wing/weasel.xml +++ b/conf/airframes/ENAC/fixed-wing/weasel.xml @@ -197,7 +197,7 @@ - + diff --git a/conf/airframes/Poine/easy_glider1.xml b/conf/airframes/Poine/easy_glider1.xml index dc5dfdc98d..c5361a4c41 100644 --- a/conf/airframes/Poine/easy_glider1.xml +++ b/conf/airframes/Poine/easy_glider1.xml @@ -130,7 +130,7 @@ - +
diff --git a/conf/airframes/TU_Delft/EasyStartPanTiltCHIMU_SPI.xml b/conf/airframes/TU_Delft/EasyStartPanTiltCHIMU_SPI.xml index 5b39490a31..ac96cb4c25 100644 --- a/conf/airframes/TU_Delft/EasyStartPanTiltCHIMU_SPI.xml +++ b/conf/airframes/TU_Delft/EasyStartPanTiltCHIMU_SPI.xml @@ -127,7 +127,7 @@ - +
diff --git a/conf/airframes/TU_Delft/MicrojetBR.xml b/conf/airframes/TU_Delft/MicrojetBR.xml index f2648ca0c9..8acc51bd39 100644 --- a/conf/airframes/TU_Delft/MicrojetBR.xml +++ b/conf/airframes/TU_Delft/MicrojetBR.xml @@ -148,7 +148,7 @@ - + diff --git a/conf/airframes/TU_Delft/MicrojetBRimu.xml b/conf/airframes/TU_Delft/MicrojetBRimu.xml index 4905cf11a6..15970180ae 100644 --- a/conf/airframes/TU_Delft/MicrojetBRimu.xml +++ b/conf/airframes/TU_Delft/MicrojetBRimu.xml @@ -184,7 +184,7 @@ - + diff --git a/conf/airframes/TU_Delft/MicrojetCDW.xml b/conf/airframes/TU_Delft/MicrojetCDW.xml index e1f73ab006..d6c6c8e9da 100644 --- a/conf/airframes/TU_Delft/MicrojetCDW.xml +++ b/conf/airframes/TU_Delft/MicrojetCDW.xml @@ -161,7 +161,7 @@ - +
diff --git a/conf/airframes/TU_Delft/Trip50A.xml b/conf/airframes/TU_Delft/Trip50A.xml index cac291a064..47af648455 100644 --- a/conf/airframes/TU_Delft/Trip50A.xml +++ b/conf/airframes/TU_Delft/Trip50A.xml @@ -175,7 +175,7 @@ - + diff --git a/conf/airframes/demo_module.xml b/conf/airframes/demo_module.xml index 3eadf26149..4960475090 100644 --- a/conf/airframes/demo_module.xml +++ b/conf/airframes/demo_module.xml @@ -128,7 +128,7 @@ - +
diff --git a/conf/airframes/easy_glider_example.xml b/conf/airframes/easy_glider_example.xml index 08e779bf16..64f0360482 100644 --- a/conf/airframes/easy_glider_example.xml +++ b/conf/airframes/easy_glider_example.xml @@ -123,7 +123,7 @@ - +
diff --git a/conf/airframes/easystar_ets_example.xml b/conf/airframes/easystar_ets_example.xml index 6cc9315264..ca6edfda4f 100644 --- a/conf/airframes/easystar_ets_example.xml +++ b/conf/airframes/easystar_ets_example.xml @@ -150,7 +150,7 @@ - +
diff --git a/conf/airframes/easystar_example.xml b/conf/airframes/easystar_example.xml index 5bd8803d57..55359f87af 100644 --- a/conf/airframes/easystar_example.xml +++ b/conf/airframes/easystar_example.xml @@ -137,7 +137,7 @@ - +
diff --git a/conf/airframes/flixr_discovery.xml b/conf/airframes/flixr_discovery.xml index a6d24f5944..5e1086b8df 100644 --- a/conf/airframes/flixr_discovery.xml +++ b/conf/airframes/flixr_discovery.xml @@ -312,7 +312,7 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation - + diff --git a/conf/airframes/jsbsim.xml b/conf/airframes/jsbsim.xml index 81e4003c60..b54d3a608c 100644 --- a/conf/airframes/jsbsim.xml +++ b/conf/airframes/jsbsim.xml @@ -141,7 +141,7 @@ - +
diff --git a/conf/airframes/mentor_tum.xml b/conf/airframes/mentor_tum.xml index ae678e76c3..75506ead78 100644 --- a/conf/airframes/mentor_tum.xml +++ b/conf/airframes/mentor_tum.xml @@ -181,7 +181,7 @@ - +
diff --git a/conf/airframes/microjet_example.xml b/conf/airframes/microjet_example.xml index 4518244d1b..d8e1c2741b 100644 --- a/conf/airframes/microjet_example.xml +++ b/conf/airframes/microjet_example.xml @@ -138,7 +138,7 @@ - +
diff --git a/conf/airframes/mm/extra/press_t.xml b/conf/airframes/mm/extra/press_t.xml index 570a4a6d32..4dc6cac213 100644 --- a/conf/airframes/mm/extra/press_t.xml +++ b/conf/airframes/mm/extra/press_t.xml @@ -148,7 +148,7 @@ +
diff --git a/conf/airframes/mm/extra/probe_t.xml b/conf/airframes/mm/extra/probe_t.xml index d65fb38942..122ce88b1b 100644 --- a/conf/airframes/mm/extra/probe_t.xml +++ b/conf/airframes/mm/extra/probe_t.xml @@ -168,7 +168,7 @@ + diff --git a/conf/airframes/mm/fixed-wing/drops.xml b/conf/airframes/mm/fixed-wing/drops.xml index b01baa02cc..adbb39135d 100644 --- a/conf/airframes/mm/fixed-wing/drops.xml +++ b/conf/airframes/mm/fixed-wing/drops.xml @@ -188,7 +188,7 @@ - + diff --git a/conf/airframes/mm/fixed-wing/funjetdca.xml b/conf/airframes/mm/fixed-wing/funjetdca.xml index 4bc34a6746..4c2f963df9 100644 --- a/conf/airframes/mm/fixed-wing/funjetdca.xml +++ b/conf/airframes/mm/fixed-wing/funjetdca.xml @@ -181,7 +181,7 @@ + diff --git a/conf/airframes/mm/fixed-wing/funjetdcb.xml b/conf/airframes/mm/fixed-wing/funjetdcb.xml index 07e3a5d4b4..80446620d3 100644 --- a/conf/airframes/mm/fixed-wing/funjetdcb.xml +++ b/conf/airframes/mm/fixed-wing/funjetdcb.xml @@ -181,7 +181,7 @@ + diff --git a/conf/airframes/mm/fixed-wing/funjetdcc.xml b/conf/airframes/mm/fixed-wing/funjetdcc.xml index c0d65cae13..7a4f87e9bc 100644 --- a/conf/airframes/mm/fixed-wing/funjetdcc.xml +++ b/conf/airframes/mm/fixed-wing/funjetdcc.xml @@ -181,7 +181,7 @@ + diff --git a/conf/airframes/mm/fixed-wing/funjeteth1.xml b/conf/airframes/mm/fixed-wing/funjeteth1.xml index a5ba5038a3..e679eeacf3 100644 --- a/conf/airframes/mm/fixed-wing/funjeteth1.xml +++ b/conf/airframes/mm/fixed-wing/funjeteth1.xml @@ -144,7 +144,7 @@ + diff --git a/conf/airframes/mm/fixed-wing/funjeteth2.xml b/conf/airframes/mm/fixed-wing/funjeteth2.xml index acbb82f350..5a666fe84c 100644 --- a/conf/airframes/mm/fixed-wing/funjeteth2.xml +++ b/conf/airframes/mm/fixed-wing/funjeteth2.xml @@ -145,7 +145,7 @@ + diff --git a/conf/airframes/mm/fixed-wing/funjetfmi1.xml b/conf/airframes/mm/fixed-wing/funjetfmi1.xml index 5951cb5c40..429b9eec0c 100644 --- a/conf/airframes/mm/fixed-wing/funjetfmi1.xml +++ b/conf/airframes/mm/fixed-wing/funjetfmi1.xml @@ -143,7 +143,7 @@ + diff --git a/conf/airframes/mm/fixed-wing/funjetfmi2.xml b/conf/airframes/mm/fixed-wing/funjetfmi2.xml index 656644677f..3f9b9f56b4 100644 --- a/conf/airframes/mm/fixed-wing/funjetfmi2.xml +++ b/conf/airframes/mm/fixed-wing/funjetfmi2.xml @@ -142,7 +142,7 @@ + diff --git a/conf/airframes/mm/fixed-wing/funjetfmi3.xml b/conf/airframes/mm/fixed-wing/funjetfmi3.xml index 581af080c9..72372a383c 100644 --- a/conf/airframes/mm/fixed-wing/funjetfmi3.xml +++ b/conf/airframes/mm/fixed-wing/funjetfmi3.xml @@ -142,7 +142,7 @@ + diff --git a/conf/airframes/mm/fixed-wing/funjetgfi1.xml b/conf/airframes/mm/fixed-wing/funjetgfi1.xml index 2f45458877..90379b7bab 100644 --- a/conf/airframes/mm/fixed-wing/funjetgfi1.xml +++ b/conf/airframes/mm/fixed-wing/funjetgfi1.xml @@ -140,7 +140,7 @@ + diff --git a/conf/airframes/mm/fixed-wing/funjetgfi4.xml b/conf/airframes/mm/fixed-wing/funjetgfi4.xml index f98494a2a9..8e63dbcc0f 100644 --- a/conf/airframes/mm/fixed-wing/funjetgfi4.xml +++ b/conf/airframes/mm/fixed-wing/funjetgfi4.xml @@ -140,7 +140,7 @@ + diff --git a/conf/airframes/mm/fixed-wing/funjetgfi5.xml b/conf/airframes/mm/fixed-wing/funjetgfi5.xml index e85e38eb4d..73f5659005 100644 --- a/conf/airframes/mm/fixed-wing/funjetgfi5.xml +++ b/conf/airframes/mm/fixed-wing/funjetgfi5.xml @@ -142,7 +142,7 @@ + diff --git a/conf/airframes/mm/fixed-wing/funjetgfi6.xml b/conf/airframes/mm/fixed-wing/funjetgfi6.xml index 31cc4d5420..34ce308509 100644 --- a/conf/airframes/mm/fixed-wing/funjetgfi6.xml +++ b/conf/airframes/mm/fixed-wing/funjetgfi6.xml @@ -142,7 +142,7 @@ + diff --git a/conf/airframes/mm/fixed-wing/funjetgfi7.xml b/conf/airframes/mm/fixed-wing/funjetgfi7.xml index 4b915dbb14..52f693da86 100644 --- a/conf/airframes/mm/fixed-wing/funjetgfi7.xml +++ b/conf/airframes/mm/fixed-wing/funjetgfi7.xml @@ -142,7 +142,7 @@ + diff --git a/conf/airframes/mm/fixed-wing/funjetgfi9.xml b/conf/airframes/mm/fixed-wing/funjetgfi9.xml index 92fdaeb41a..63dbbe4fa9 100644 --- a/conf/airframes/mm/fixed-wing/funjetgfi9.xml +++ b/conf/airframes/mm/fixed-wing/funjetgfi9.xml @@ -142,7 +142,7 @@ + diff --git a/conf/airframes/mm/fixed-wing/funjetmm.xml b/conf/airframes/mm/fixed-wing/funjetmm.xml index 94a2f33809..8d755fe12a 100644 --- a/conf/airframes/mm/fixed-wing/funjetmm.xml +++ b/conf/airframes/mm/fixed-wing/funjetmm.xml @@ -213,7 +213,7 @@ + diff --git a/conf/airframes/mm/fixed-wing/funjetmm2.xml b/conf/airframes/mm/fixed-wing/funjetmm2.xml index cfcfd82b6b..f2bafaf219 100644 --- a/conf/airframes/mm/fixed-wing/funjetmm2.xml +++ b/conf/airframes/mm/fixed-wing/funjetmm2.xml @@ -148,7 +148,7 @@ + diff --git a/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml b/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml index c45f7da8a3..95e9e6626f 100644 --- a/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml +++ b/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml @@ -173,7 +173,7 @@ + diff --git a/conf/airframes/mm/fixed-wing/merlin.xml b/conf/airframes/mm/fixed-wing/merlin.xml index cf20b20829..99252a54fc 100644 --- a/conf/airframes/mm/fixed-wing/merlin.xml +++ b/conf/airframes/mm/fixed-wing/merlin.xml @@ -136,7 +136,7 @@ +
diff --git a/conf/airframes/mm/fixed-wing/miniwing.xml b/conf/airframes/mm/fixed-wing/miniwing.xml index b1eec22815..e5652f773c 100644 --- a/conf/airframes/mm/fixed-wing/miniwing.xml +++ b/conf/airframes/mm/fixed-wing/miniwing.xml @@ -140,7 +140,7 @@ +
diff --git a/conf/airframes/mm/fixed-wing/slowfast.xml b/conf/airframes/mm/fixed-wing/slowfast.xml index b7665e0968..f75cfe7ec0 100644 --- a/conf/airframes/mm/fixed-wing/slowfast.xml +++ b/conf/airframes/mm/fixed-wing/slowfast.xml @@ -171,7 +171,7 @@ - + diff --git a/conf/airframes/mm/fixed-wing/slowfast2.xml b/conf/airframes/mm/fixed-wing/slowfast2.xml index 93e3f0d642..00ccacc125 100644 --- a/conf/airframes/mm/fixed-wing/slowfast2.xml +++ b/conf/airframes/mm/fixed-wing/slowfast2.xml @@ -187,7 +187,7 @@ - + diff --git a/conf/airframes/mm/fixed-wing/twinstarmm.xml b/conf/airframes/mm/fixed-wing/twinstarmm.xml index 7288bfabff..3cd0098b02 100644 --- a/conf/airframes/mm/fixed-wing/twinstarmm.xml +++ b/conf/airframes/mm/fixed-wing/twinstarmm.xml @@ -165,7 +165,7 @@ +
diff --git a/conf/airframes/mm/hangar/lila.xml b/conf/airframes/mm/hangar/lila.xml index 8b46c13fa4..13c5c9b312 100644 --- a/conf/airframes/mm/hangar/lila.xml +++ b/conf/airframes/mm/hangar/lila.xml @@ -153,7 +153,7 @@ - + diff --git a/conf/airframes/obsolete/easystar2.xml b/conf/airframes/obsolete/easystar2.xml index eecb33e7a1..865b98335d 100644 --- a/conf/airframes/obsolete/easystar2.xml +++ b/conf/airframes/obsolete/easystar2.xml @@ -138,7 +138,7 @@ - +
diff --git a/conf/airframes/obsolete/hitl_usb.xml b/conf/airframes/obsolete/hitl_usb.xml index 059ff0ebcc..271def9b9e 100644 --- a/conf/airframes/obsolete/hitl_usb.xml +++ b/conf/airframes/obsolete/hitl_usb.xml @@ -82,7 +82,7 @@ - +
diff --git a/conf/airframes/obsolete/kalscott_easystar.xml b/conf/airframes/obsolete/kalscott_easystar.xml index 587147e00e..97168e48a9 100644 --- a/conf/airframes/obsolete/kalscott_easystar.xml +++ b/conf/airframes/obsolete/kalscott_easystar.xml @@ -118,7 +118,7 @@ - +
diff --git a/conf/airframes/obsolete/malolo_sim.xml b/conf/airframes/obsolete/malolo_sim.xml index c9e8582bc6..eeab12d335 100644 --- a/conf/airframes/obsolete/malolo_sim.xml +++ b/conf/airframes/obsolete/malolo_sim.xml @@ -150,7 +150,7 @@ - +
diff --git a/conf/airframes/obsolete/microjet5.xml b/conf/airframes/obsolete/microjet5.xml index a1e076f5df..946fb86383 100644 --- a/conf/airframes/obsolete/microjet5.xml +++ b/conf/airframes/obsolete/microjet5.xml @@ -147,7 +147,7 @@ - +
diff --git a/conf/airframes/obsolete/microjet5_tp_auto.xml b/conf/airframes/obsolete/microjet5_tp_auto.xml index f9bc2ac131..be614631f5 100644 --- a/conf/airframes/obsolete/microjet5_tp_auto.xml +++ b/conf/airframes/obsolete/microjet5_tp_auto.xml @@ -103,7 +103,7 @@ - + diff --git a/conf/airframes/obsolete/microjetI.xml b/conf/airframes/obsolete/microjetI.xml index 70231f2f8e..051250a86e 100644 --- a/conf/airframes/obsolete/microjetI.xml +++ b/conf/airframes/obsolete/microjetI.xml @@ -151,7 +151,7 @@ - +
diff --git a/conf/airframes/obsolete/microjetII.xml b/conf/airframes/obsolete/microjetII.xml index 3ca3c05154..a40f85753e 100644 --- a/conf/airframes/obsolete/microjetII.xml +++ b/conf/airframes/obsolete/microjetII.xml @@ -151,7 +151,7 @@ - +
diff --git a/conf/airframes/obsolete/microjetIII.xml b/conf/airframes/obsolete/microjetIII.xml index 8f13bc1ecc..564619d6ce 100644 --- a/conf/airframes/obsolete/microjetIII.xml +++ b/conf/airframes/obsolete/microjetIII.xml @@ -139,7 +139,7 @@ - +
diff --git a/conf/airframes/obsolete/microjet_raw_makefile.xml b/conf/airframes/obsolete/microjet_raw_makefile.xml index 3661d53684..d7b9ca439f 100644 --- a/conf/airframes/obsolete/microjet_raw_makefile.xml +++ b/conf/airframes/obsolete/microjet_raw_makefile.xml @@ -152,7 +152,7 @@ - +
diff --git a/conf/airframes/obsolete/slayerJH.xml b/conf/airframes/obsolete/slayerJH.xml index 0305172693..19fd72defe 100644 --- a/conf/airframes/obsolete/slayerJH.xml +++ b/conf/airframes/obsolete/slayerJH.xml @@ -132,7 +132,7 @@ - +
diff --git a/conf/airframes/obsolete/slicer1.xml b/conf/airframes/obsolete/slicer1.xml index 80e59d0b61..262a0b86b4 100644 --- a/conf/airframes/obsolete/slicer1.xml +++ b/conf/airframes/obsolete/slicer1.xml @@ -147,7 +147,7 @@ - +
diff --git a/conf/airframes/obsolete/slicer2.xml b/conf/airframes/obsolete/slicer2.xml index 6932071e1e..177b45ff1d 100644 --- a/conf/airframes/obsolete/slicer2.xml +++ b/conf/airframes/obsolete/slicer2.xml @@ -141,7 +141,7 @@ - +
diff --git a/conf/airframes/obsolete/spirit.xml b/conf/airframes/obsolete/spirit.xml index b5abb80e81..3548022de3 100644 --- a/conf/airframes/obsolete/spirit.xml +++ b/conf/airframes/obsolete/spirit.xml @@ -148,7 +148,7 @@ - +
diff --git a/conf/airframes/obsolete/spirit_proto.xml b/conf/airframes/obsolete/spirit_proto.xml index ba5cf1830e..068173094c 100644 --- a/conf/airframes/obsolete/spirit_proto.xml +++ b/conf/airframes/obsolete/spirit_proto.xml @@ -137,7 +137,7 @@ - +
diff --git a/conf/airframes/obsolete/tiny_hitl.xml b/conf/airframes/obsolete/tiny_hitl.xml index c011a61ad7..775b886dc1 100644 --- a/conf/airframes/obsolete/tiny_hitl.xml +++ b/conf/airframes/obsolete/tiny_hitl.xml @@ -133,7 +133,7 @@ - +
diff --git a/conf/airframes/obsolete/twinjet1.xml b/conf/airframes/obsolete/twinjet1.xml index 32339490a9..93aa9131de 100644 --- a/conf/airframes/obsolete/twinjet1.xml +++ b/conf/airframes/obsolete/twinjet1.xml @@ -92,7 +92,7 @@ - +
diff --git a/conf/airframes/obsolete/tyto1.xml b/conf/airframes/obsolete/tyto1.xml index 7f9e7ee8d4..1301eab688 100644 --- a/conf/airframes/obsolete/tyto1.xml +++ b/conf/airframes/obsolete/tyto1.xml @@ -158,7 +158,7 @@ - +
diff --git a/conf/airframes/twinjet_example.xml b/conf/airframes/twinjet_example.xml index 60c0bfdf1f..85ebfb13ca 100644 --- a/conf/airframes/twinjet_example.xml +++ b/conf/airframes/twinjet_example.xml @@ -120,7 +120,7 @@ - +
diff --git a/conf/airframes/twinjet_overo.xml b/conf/airframes/twinjet_overo.xml index b153a58ce3..6322bcdeef 100644 --- a/conf/airframes/twinjet_overo.xml +++ b/conf/airframes/twinjet_overo.xml @@ -122,7 +122,7 @@ - + diff --git a/conf/settings/tuning.xml b/conf/settings/tuning.xml index 695c1096e5..401cad6489 100644 --- a/conf/settings/tuning.xml +++ b/conf/settings/tuning.xml @@ -40,7 +40,7 @@ - + diff --git a/conf/settings/tuningJH.xml b/conf/settings/tuningJH.xml index 8319dff5c4..a74e6456d1 100644 --- a/conf/settings/tuningJH.xml +++ b/conf/settings/tuningJH.xml @@ -45,7 +45,7 @@ - + diff --git a/conf/settings/tuning_ctl_new.xml b/conf/settings/tuning_ctl_new.xml index 736da3d6f3..3685cbd25a 100644 --- a/conf/settings/tuning_ctl_new.xml +++ b/conf/settings/tuning_ctl_new.xml @@ -8,7 +8,7 @@ - + diff --git a/conf/settings/tuning_infrared.xml b/conf/settings/tuning_infrared.xml index 521d4f5427..968e398992 100644 --- a/conf/settings/tuning_infrared.xml +++ b/conf/settings/tuning_infrared.xml @@ -56,7 +56,7 @@ - + diff --git a/conf/settings/tuning_ins.xml b/conf/settings/tuning_ins.xml index 294bdc1332..d83f39de8f 100644 --- a/conf/settings/tuning_ins.xml +++ b/conf/settings/tuning_ins.xml @@ -47,7 +47,7 @@ - + diff --git a/conf/settings/tuning_ins_dcm.xml b/conf/settings/tuning_ins_dcm.xml index f5a160ebd1..acd6b921f6 100644 --- a/conf/settings/tuning_ins_dcm.xml +++ b/conf/settings/tuning_ins_dcm.xml @@ -50,7 +50,7 @@ - + diff --git a/conf/settings/tuning_loiter.xml b/conf/settings/tuning_loiter.xml index 989ee5d966..69a23ab867 100644 --- a/conf/settings/tuning_loiter.xml +++ b/conf/settings/tuning_loiter.xml @@ -55,7 +55,7 @@ - + diff --git a/conf/settings/tuning_pers.xml b/conf/settings/tuning_pers.xml index 2deefc53d0..057be42057 100644 --- a/conf/settings/tuning_pers.xml +++ b/conf/settings/tuning_pers.xml @@ -56,7 +56,7 @@ - + diff --git a/conf/settings/tuning_tp_auto.xml b/conf/settings/tuning_tp_auto.xml index aa2751503b..95d8caee94 100644 --- a/conf/settings/tuning_tp_auto.xml +++ b/conf/settings/tuning_tp_auto.xml @@ -31,7 +31,7 @@ - + diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c index 1dd83a5e49..a41a8b29cc 100644 --- a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c +++ b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c @@ -158,7 +158,7 @@ void h_ctl_init( void ) { h_ctl_roll_setpoint = 0.; h_ctl_roll_attitude_gain = ABS(H_CTL_ROLL_ATTITUDE_GAIN); - h_ctl_roll_rate_gain = H_CTL_ROLL_RATE_GAIN; + h_ctl_roll_rate_gain = ABS(H_CTL_ROLL_RATE_GAIN); h_ctl_roll_igain = H_CTL_ROLL_IGAIN; h_ctl_roll_sum_err = 0; h_ctl_roll_Kffa = H_CTL_ROLL_KFFA; @@ -307,17 +307,17 @@ inline static void h_ctl_roll_loop( void ) { } } - cmd_fb = -h_ctl_roll_attitude_gain * err;// + h_ctl_roll_rate_gain * d_err; + cmd_fb = -h_ctl_roll_attitude_gain * err;// - h_ctl_roll_rate_gain * d_err; float cmd = h_ctl_roll_Kffa * h_ctl_ref_roll_accel + h_ctl_roll_Kffd * h_ctl_ref_roll_rate - cmd_fb - - h_ctl_roll_rate_gain * d_err + + h_ctl_roll_rate_gain * d_err - h_ctl_roll_igain * h_ctl_roll_sum_err + v_ctl_throttle_setpoint * h_ctl_aileron_of_throttle; // float cmd = h_ctl_roll_Kffa * h_ctl_ref_roll_accel // + h_ctl_roll_Kffd * h_ctl_ref_roll_rate // + h_ctl_roll_attitude_gain * err -// - h_ctl_roll_rate_gain * d_err +// + h_ctl_roll_rate_gain * d_err // - h_ctl_roll_igain * h_ctl_roll_sum_err // + v_ctl_throttle_setpoint * h_ctl_aileron_of_throttle; // diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c index a7a5535c50..c84f0ee3fc 100644 --- a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c +++ b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c @@ -164,7 +164,7 @@ void h_ctl_init( void ) { #ifdef H_CTL_ROLL_ATTITUDE_GAIN h_ctl_roll_attitude_gain = ABS(H_CTL_ROLL_ATTITUDE_GAIN); - h_ctl_roll_rate_gain = H_CTL_ROLL_RATE_GAIN; + h_ctl_roll_rate_gain = ABS(H_CTL_ROLL_RATE_GAIN); #endif #ifdef AGR_CLIMB @@ -321,7 +321,7 @@ inline static void h_ctl_roll_loop( void ) { last_err = err; #endif float cmd = h_ctl_roll_attitude_gain * err - - h_ctl_roll_rate_gain * estimator_p + + h_ctl_roll_rate_gain * estimator_p + v_ctl_throttle_setpoint * h_ctl_aileron_of_throttle; h_ctl_aileron_setpoint = TRIM_PPRZ(cmd);