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changed h_ctl_roll_rate_gain to positive

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This commit is contained in:
Felix Ruess
2011-11-29 20:11:32 +01:00
parent 5e59fc1f1b
commit a107375f8e
92 changed files with 96 additions and 96 deletions
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conf/airframes/CDW/ChimuLisaFw.xml
+1 -1
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@@ -102,7 +102,7 @@
<define name="ROLL_SLEW" value="0.1"/>
<define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/>
<define name="ROLL_RATE_GAIN" value="1500"/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
conf/airframes/CDW/ChimuTinyFw.xml
+1 -1
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@@ -126,7 +126,7 @@
<define name="ELEVATOR_OF_ROLL" value="1000."/>
<define name="ROLL_ATTITUDE_GAIN" value="11500"/>
<define name="ROLL_RATE_GAIN" value="-600."/>
<define name="ROLL_RATE_GAIN" value="600."/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
conf/airframes/CDW/ChimuTinyFwSpi.xml
+1 -1
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@@ -126,7 +126,7 @@
<define name="ELEVATOR_OF_ROLL" value="1000."/>
<define name="ROLL_ATTITUDE_GAIN" value="11500"/>
<define name="ROLL_RATE_GAIN" value="-600."/>
<define name="ROLL_RATE_GAIN" value="600."/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
conf/airframes/ENAC/fixed-wing/firestorm.xml
+1 -1
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@@ -187,7 +187,7 @@
<define name="ELEVATOR_OF_ROLL" value="2000."/>
<define name="ROLL_ATTITUDE_GAIN" value="2600"/>
<define name="ROLL_RATE_GAIN" value="-850"/>
<define name="ROLL_RATE_GAIN" value="850"/>
<define name="ROLL_KFF" value="-500"/>
<define name="ROLL_IGAIN" value="-00"/>
conf/airframes/ENAC/fixed-wing/funjet2.xml
+1 -1
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@@ -176,7 +176,7 @@
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
<define name="ROLL_ATTITUDE_GAIN" value="9000."/>
<define name="ROLL_RATE_GAIN" value="-3000."/>
<define name="ROLL_RATE_GAIN" value="3000."/>
<define name="PITCH_PGAIN" value="20000."/>
<define name="PITCH_DGAIN" value="0.4"/>
conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
+1 -1
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@@ -196,7 +196,7 @@
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
<define name="ROLL_ATTITUDE_GAIN" value="9000."/>
<define name="ROLL_RATE_GAIN" value="-3000."/>
<define name="ROLL_RATE_GAIN" value="3000."/>
<define name="ROLL_IGAIN" value="-500"/>
<define name="ROLL_KFFA" value="-500"/>
<define name="ROLL_KFFD" value="-500"/>
conf/airframes/ENAC/fixed-wing/funjet2_new.xml
+1 -1
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@@ -196,7 +196,7 @@
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
<define name="ROLL_ATTITUDE_GAIN" value="9000."/>
<define name="ROLL_RATE_GAIN" value="-3000."/>
<define name="ROLL_RATE_GAIN" value="3000."/>
<define name="ROLL_IGAIN" value="-0"/>
<define name="ROLL_KFFA" value="0"/>
<define name="ROLL_KFFD" value="0"/>
conf/airframes/ENAC/fixed-wing/funjet3.xml
+1 -1
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@@ -173,7 +173,7 @@
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
<define name="ROLL_ATTITUDE_GAIN" value="6000."/>
<define name="ROLL_RATE_GAIN" value="-1000."/>
<define name="ROLL_RATE_GAIN" value="1000."/>
<define name="ROLL_IGAIN" value="-400."/>
<define name="ROLL_KFFA" value="0"/>
<define name="ROLL_KFFD" value="0"/>
conf/airframes/ENAC/fixed-wing/merlin.xml
+1 -1
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@@ -157,7 +157,7 @@
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
<define name="ROLL_ATTITUDE_GAIN" value="5900"/>
<define name="ROLL_RATE_GAIN" value="-2900"/>
<define name="ROLL_RATE_GAIN" value="2900"/>
<define name="ROLL_IGAIN" value="-500"/>
<define name="ROLL_KFFA" value="-500"/>
<define name="ROLL_KFFD" value="-500"/>
conf/airframes/ENAC/fixed-wing/obsolete/drops.xml
+1 -1
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@@ -171,7 +171,7 @@ on<!DOCTYPE airframe SYSTEM "airframe.dtd">
<define name="ELEVATOR_OF_ROLL" value="1520.73706055"/>
<define name="ROLL_ATTITUDE_GAIN" value="5847.45800781"/>
<define name="ROLL_RATE_GAIN" value="-2923.72900391"/>
<define name="ROLL_RATE_GAIN" value="2923.72900391"/>
<define name="ROLL_KFF" value="-500"/>
<define name="ROLL_IGAIN" value="-5000"/>
conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml
+1 -1
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@@ -154,7 +154,7 @@
<define name="ELEVATOR_OF_ROLL" value="2500"/>
<define name="ROLL_ATTITUDE_GAIN" value="8055.55615234"/>
<define name="ROLL_RATE_GAIN" value="-1527.7779541"/>
<define name="ROLL_RATE_GAIN" value="1527.7779541"/>
<define name="ROLL_KFF" value="-500"/>
<define name="ROLL_IGAIN" value="-500"/>
conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml
+1 -1
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@@ -157,7 +157,7 @@
<!-- roll rate loop -->
<define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/>
<define name="ROLL_RATE_GAIN" value="1500"/>
<define name="COURSE_SLEW_INCREMENT" value="RadOfDeg(3)"/>
</section>
conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml
+1 -1
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@@ -156,7 +156,7 @@
<define name="ELEVATOR_OF_ROLL" value="2000."/>
<define name="ROLL_ATTITUDE_GAIN" value="12000"/>
<define name="ROLL_RATE_GAIN" value="-2500"/>
<define name="ROLL_RATE_GAIN" value="2500"/>
<define name="ROLL_KFF" value="-500"/>
<define name="ROLL_IGAIN" value="-00"/>
conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml
+1 -1
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@@ -158,7 +158,7 @@
<define name="ELEVATOR_OF_ROLL" value="2500"/>
<define name="ROLL_ATTITUDE_GAIN" value="12584.7460938"/>
<define name="ROLL_RATE_GAIN" value="-1779.66101074"/>
<define name="ROLL_RATE_GAIN" value="1779.66101074"/>
<define name="ROLL_KFF" value="-500"/>
<define name="ROLL_IGAIN" value="-500"/>
conf/airframes/ENAC/fixed-wing/overview.xml
+1 -1
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@@ -151,7 +151,7 @@
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
<define name="ROLL_ATTITUDE_GAIN" value="9000."/>
<define name="ROLL_RATE_GAIN" value="-3000."/>
<define name="ROLL_RATE_GAIN" value="3000."/>
<define name="PITCH_PGAIN" value="9000."/>
<define name="PITCH_DGAIN" value="0.4"/>
conf/airframes/ENAC/fixed-wing/spocIII-1.xml
+1 -1
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@@ -159,7 +159,7 @@
<define name="ELEVATOR_OF_ROLL" value="2500"/>
<define name="ROLL_ATTITUDE_GAIN" value="8500"/>
<define name="ROLL_RATE_GAIN" value="-2700"/>
<define name="ROLL_RATE_GAIN" value="2700"/>
<define name="ROLL_KFF" value="-500"/>
<define name="ROLL_IGAIN" value="-500"/>
conf/airframes/ENAC/fixed-wing/spocIII-2.xml
+1 -1
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@@ -181,7 +181,7 @@
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
<define name="ROLL_ATTITUDE_GAIN" value="8500."/>
<define name="ROLL_RATE_GAIN" value="-2400."/>
<define name="ROLL_RATE_GAIN" value="2400."/>
<define name="ROLL_IGAIN" value="-0."/>
<define name="ROLL_KFFA" value="0"/>
<define name="ROLL_KFFD" value="0"/>
conf/airframes/ENAC/fixed-wing/spocIII-3.xml
+1 -1
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@@ -184,7 +184,7 @@
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
<define name="ROLL_ATTITUDE_GAIN" value="8500."/>
<define name="ROLL_RATE_GAIN" value="-2400."/>
<define name="ROLL_RATE_GAIN" value="2400."/>
<define name="ROLL_IGAIN" value="-0."/>
<define name="ROLL_KFFA" value="0"/>
<define name="ROLL_KFFD" value="0"/>
conf/airframes/ENAC/fixed-wing/weasel.xml
+1 -1
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@@ -197,7 +197,7 @@
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
<define name="ROLL_ATTITUDE_GAIN" value="3800."/>
<define name="ROLL_RATE_GAIN" value="-500."/>
<define name="ROLL_RATE_GAIN" value="500."/>
<define name="ROLL_IGAIN" value="-150."/>
<define name="ROLL_KFFA" value="0"/>
<define name="ROLL_KFFD" value="0"/>
conf/airframes/Poine/easy_glider1.xml
+1 -1
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@@ -130,7 +130,7 @@
<define name="ROLL_SLEW" value="0.1"/>
<define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/>
<define name="ROLL_RATE_GAIN" value="1500"/>
</section>
<section name="NAV">
conf/airframes/TU_Delft/EasyStartPanTiltCHIMU_SPI.xml
+1 -1
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@@ -127,7 +127,7 @@
<define name="ELEVATOR_OF_ROLL" value="1000."/>
<define name="ROLL_ATTITUDE_GAIN" value="11500"/>
<define name="ROLL_RATE_GAIN" value="-600."/>
<define name="ROLL_RATE_GAIN" value="600."/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
conf/airframes/TU_Delft/MicrojetBR.xml
+1 -1
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@@ -148,7 +148,7 @@
<define name="PITCH_PGAIN" value="7330.82714844"/>
<define name="PITCH_DGAIN" value="1.7254999876"/>
<define name="ELEVATOR_OF_ROLL" value="1250."/>
<define name="ROLL_RATE_GAIN" value="-112.781997681"/>
<define name="ROLL_RATE_GAIN" value="112.781997681"/>
<define name="ROLL_ATTITUDE_GAIN" value="4957.62695312"/>
<!-- roll rate loop -->
conf/airframes/TU_Delft/MicrojetBRimu.xml
+1 -1
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@@ -184,7 +184,7 @@
<define name="PITCH_PGAIN" value="8550.48925781"/>
<define name="PITCH_DGAIN" value="1.7254999876"/>
<define name="ELEVATOR_OF_ROLL" value="1250."/>
<define name="ROLL_RATE_GAIN" value="-625."/>
<define name="ROLL_RATE_GAIN" value="625."/>
<define name="ROLL_ATTITUDE_GAIN" value="4464.28613281"/>
<!-- roll rate loop -->
conf/airframes/TU_Delft/MicrojetCDW.xml
+1 -1
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@@ -161,7 +161,7 @@
<define name="ELEVATOR_OF_ROLL" value="1200."/>
<define name="ROLL_ATTITUDE_GAIN" value="6000."/>
<define name="ROLL_RATE_GAIN" value="-600."/>
<define name="ROLL_RATE_GAIN" value="600."/>
<define name="ROLL_SLEW" value="0.02"/> <!-- Maximal roll angle change per 1/60 of second: 0.02 rad/loop * 180/pi * 60 loop/sec = 60 deg/sec -->
</section>
conf/airframes/TU_Delft/Trip50A.xml
+1 -1
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@@ -175,7 +175,7 @@
<define name="ROLL_SLEW" value="0.30"/> <!-- Maximal roll angle change per 1/60 of second -->
<define name="ROLL_ATTITUDE_GAIN" value="7000."/> <!-- Roll Angle PD control -->
<define name="ROLL_RATE_GAIN" value="-2752.29394531"/>
<define name="ROLL_RATE_GAIN" value="2752.29394531"/>
<!--
#ifdef H_CTL_ROLL_ATTITUDE_GAIN
conf/airframes/TU_Delft/skywalker.xml
+1 -1
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@@ -163,7 +163,7 @@
<define name="ROLL_SLEW" value="1."/>
<define name="ROLL_ATTITUDE_GAIN" value="11718.75"/>
<define name="ROLL_RATE_GAIN" value="-820.312011719"/>
<define name="ROLL_RATE_GAIN" value="820.312011719"/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
conf/airframes/TU_Delft/skywalkerfiber.xml
+1 -1
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@@ -291,7 +291,7 @@
<define name="ROLL_SLEW" value="1."/>
<define name="ROLL_ATTITUDE_GAIN" value="11718.75"/>
<define name="ROLL_RATE_GAIN" value="-820.312011719"/>
<define name="ROLL_RATE_GAIN" value="820.312011719"/>
</section>
<!-- ***************************** AGGRESIVE ******************************* -->
conf/airframes/demo_module.xml
+1 -1
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@@ -128,7 +128,7 @@
<define name="ELEVATOR_OF_ROLL" value="2500"/>
<define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/>
<define name="ROLL_RATE_GAIN" value="1500"/>
</section>
<section name="NAV">
conf/airframes/easy_glider_example.xml
+1 -1
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@@ -123,7 +123,7 @@
<define name="ROLL_SLEW" value="0.1"/>
<define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/>
<define name="ROLL_RATE_GAIN" value="1500"/>
</section>
<section name="NAV">
conf/airframes/easystar_ets_example.xml
+1 -1
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@@ -150,7 +150,7 @@
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="2500"/>
<define name="ROLL_ATTITUDE_GAIN" value="7400"/>
<define name="ROLL_RATE_GAIN" value="-200"/>
<define name="ROLL_RATE_GAIN" value="200"/>
</section>
<section name="NAV">
conf/airframes/easystar_example.xml
+1 -1
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@@ -137,7 +137,7 @@
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="2500"/>
<define name="ROLL_ATTITUDE_GAIN" value="7400"/>
<define name="ROLL_RATE_GAIN" value="-200"/>
<define name="ROLL_RATE_GAIN" value="200"/>
</section>
<section name="NAV">
conf/airframes/flixr_discovery.xml
+1 -1
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@@ -312,7 +312,7 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
<define name="ROLL_ATTITUDE_GAIN" value="7500."/>
<define name="ROLL_RATE_GAIN" value="-1500"/>
<define name="ROLL_RATE_GAIN" value="1500"/>
<!-- only for stabilization adaptive -->
<define name="ROLL_IGAIN" value="-500"/>
conf/airframes/jsbsim.xml
+1 -1
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@@ -141,7 +141,7 @@
<define name="ELEVATOR_OF_ROLL" value="2500"/>
<define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/>
<define name="ROLL_RATE_GAIN" value="1500"/>
</section>
<section name="NAV">
conf/airframes/mentor_tum.xml
+1 -1
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@@ -181,7 +181,7 @@
<define name="ELEVATOR_OF_ROLL" value="1250"/>
<define name="ROLL_ATTITUDE_GAIN" value="7500."/>
<!-- <define name="ROLL_RATE_GAIN" value="-1500"/> -->
<!-- <define name="ROLL_RATE_GAIN" value="1500"/> -->
</section>
<section name="NAV">
conf/airframes/microjet_example.xml
+1 -1
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@@ -138,7 +138,7 @@
<define name="ROLL_SLEW" value="0.1"/>
<define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/>
<define name="ROLL_RATE_GAIN" value="1500"/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
conf/airframes/mm/extra/press_t.xml
+1 -1
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@@ -148,7 +148,7 @@
<define name="ELEVATOR_OF_ROLL" value="2400"/>
<!--define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/-->
<define name="ROLL_RATE_GAIN" value="1500"/-->
</section>
conf/airframes/mm/extra/probe_t.xml
+1 -1
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@@ -168,7 +168,7 @@
<define name="ELEVATOR_OF_ROLL" value="2400"/>
<!--define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/-->
<define name="ROLL_RATE_GAIN" value="1500"/-->
</section>
conf/airframes/mm/fixed-wing/drops.xml
+1 -1
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@@ -188,7 +188,7 @@
<define name="ELEVATOR_OF_ROLL" value="1520.73706055"/>
<define name="ROLL_ATTITUDE_GAIN" value="5847.45800781"/>
<define name="ROLL_RATE_GAIN" value="-2923.72900391"/>
<define name="ROLL_RATE_GAIN" value="2923.72900391"/>
<define name="ROLL_IGAIN" value="-5000"/>
<define name="ROLL_KFFA" value="500"/>
conf/airframes/mm/fixed-wing/funjetdca.xml
+1 -1
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@@ -181,7 +181,7 @@
<define name="ELEVATOR_OF_ROLL" value="2400"/>
<!--define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/-->
<define name="ROLL_RATE_GAIN" value="1500"/-->
</section>
conf/airframes/mm/fixed-wing/funjetdcb.xml
+1 -1
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@@ -181,7 +181,7 @@
<define name="ELEVATOR_OF_ROLL" value="2400"/>
<!--define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/-->
<define name="ROLL_RATE_GAIN" value="1500"/-->
</section>
conf/airframes/mm/fixed-wing/funjetdcc.xml
+1 -1
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@@ -181,7 +181,7 @@
<define name="ELEVATOR_OF_ROLL" value="2400"/>
<!--define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/-->
<define name="ROLL_RATE_GAIN" value="1500"/-->
</section>
conf/airframes/mm/fixed-wing/funjeteth1.xml
+1 -1
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@@ -144,7 +144,7 @@
<define name="ELEVATOR_OF_ROLL" value="1200"/>
<!--define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/-->
<define name="ROLL_RATE_GAIN" value="1500"/-->
</section>
conf/airframes/mm/fixed-wing/funjeteth2.xml
+1 -1
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@@ -145,7 +145,7 @@
<define name="ELEVATOR_OF_ROLL" value="1200"/>
<!--define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/-->
<define name="ROLL_RATE_GAIN" value="1500"/-->
</section>
conf/airframes/mm/fixed-wing/funjetfmi1.xml
+1 -1
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@@ -143,7 +143,7 @@
<define name="ELEVATOR_OF_ROLL" value="2400"/>
<!--define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/-->
<define name="ROLL_RATE_GAIN" value="1500"/-->
</section>
conf/airframes/mm/fixed-wing/funjetfmi2.xml
+1 -1
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@@ -142,7 +142,7 @@
<define name="ELEVATOR_OF_ROLL" value="2400"/>
<!--define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/-->
<define name="ROLL_RATE_GAIN" value="1500"/-->
</section>
conf/airframes/mm/fixed-wing/funjetfmi3.xml
+1 -1
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@@ -142,7 +142,7 @@
<define name="ELEVATOR_OF_ROLL" value="2400"/>
<!--define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/-->
<define name="ROLL_RATE_GAIN" value="1500"/-->
</section>
conf/airframes/mm/fixed-wing/funjetgfi1.xml
+1 -1
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@@ -140,7 +140,7 @@
<define name="ELEVATOR_OF_ROLL" value="2400"/>
<!--define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/-->
<define name="ROLL_RATE_GAIN" value="1500"/-->
</section>
conf/airframes/mm/fixed-wing/funjetgfi4.xml
+1 -1
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@@ -140,7 +140,7 @@
<define name="ELEVATOR_OF_ROLL" value="1200"/>
<!--define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/-->
<define name="ROLL_RATE_GAIN" value="1500"/-->
</section>
conf/airframes/mm/fixed-wing/funjetgfi5.xml
+1 -1
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@@ -142,7 +142,7 @@
<define name="ELEVATOR_OF_ROLL" value="2400"/>
<!--define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/-->
<define name="ROLL_RATE_GAIN" value="1500"/-->
</section>
conf/airframes/mm/fixed-wing/funjetgfi6.xml
+1 -1
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@@ -142,7 +142,7 @@
<define name="ELEVATOR_OF_ROLL" value="2400"/>
<!--define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/-->
<define name="ROLL_RATE_GAIN" value="1500"/-->
</section>

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