changed h_ctl_pitch_dgain to positive

already had postive definition for stabilization_adaptive, but negative for stabilization_attitude

conf/airframes/ENAC/fixed-wing/funjet2_new.xml

@@ -202,7 +202,7 @@
     <define name="ROLL_KFFD" value="0"/>
 
     <define name="PITCH_PGAIN" value="20000."/>
-    <define name="PITCH_DGAIN" value="-1000"/>
+    <define name="PITCH_DGAIN" value="1000"/>
     <define name="PITCH_IGAIN" value="-300"/>
     <define name="PITCH_KFFA" value="0."/>
     <define name="PITCH_KFFD" value="0."/>

conf/airframes/ENAC/fixed-wing/obsolete/drops.xml

@@ -166,7 +166,7 @@ on<!DOCTYPE airframe SYSTEM "airframe.dtd">
     <define name="ROLL_PGAIN" value="6000."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
     <define name="PITCH_PGAIN" value="8898.3046875"/>
-    <define name="PITCH_DGAIN" value="-1694.91503906"/>
+    <define name="PITCH_DGAIN" value="1694.91503906"/>
 
     <define name="ELEVATOR_OF_ROLL" value="1520.73706055"/>
 

conf/airframes/ENAC/fixed-wing/spocIII-2.xml

@@ -187,7 +187,7 @@
     <define name="ROLL_KFFD" value="0"/>
 
     <define name="PITCH_PGAIN" value="7000."/>
-    <define name="PITCH_DGAIN" value="-2400."/>
+    <define name="PITCH_DGAIN" value="2400."/>
     <define name="PITCH_IGAIN" value="-300."/>
     <define name="PITCH_KFFA" value="0."/>
     <define name="PITCH_KFFD" value="0."/>

conf/airframes/ENAC/fixed-wing/spocIII-3.xml

@@ -190,7 +190,7 @@
     <define name="ROLL_KFFD" value="0"/>
 
     <define name="PITCH_PGAIN" value="7000."/>
-    <define name="PITCH_DGAIN" value="-2400."/>
+    <define name="PITCH_DGAIN" value="2400."/>
     <define name="PITCH_IGAIN" value="-300."/>
     <define name="PITCH_KFFA" value="0."/>
     <define name="PITCH_KFFD" value="0."/>

conf/airframes/ENAC/fixed-wing/twinjet2.xml

@@ -177,7 +177,7 @@
     <define name="ROLL_KFFD" value="-500"/>
 
     <define name="PITCH_PGAIN" value="14522.4716797"/>
-    <define name="PITCH_DGAIN" value="-0."/>
+    <define name="PITCH_DGAIN" value="0."/>
     <define name="PITCH_IGAIN" value="-500"/>
     <define name="PITCH_KFFA" value="0."/>
     <define name="PITCH_KFFD" value="0."/>

conf/airframes/flixr_discovery.xml

@@ -326,7 +326,7 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
     <define name="PITCH_PGAIN" value="7000."/>
 
     <!-- only for stabilization adaptive -->
-    <define name="PITCH_DGAIN" value="-1000."/>
+    <define name="PITCH_DGAIN" value="1000."/>
     <define name="PITCH_IGAIN" value="-500."/>
     <define name="PITCH_KFFA" value="0."/>
     <define name="PITCH_KFFD" value="0."/>

conf/airframes/mm/fixed-wing/drops.xml

@@ -182,7 +182,7 @@
     <define name="ROLL_PGAIN" value="6000."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
     <define name="PITCH_PGAIN" value="8898.3046875"/>
-    <define name="PITCH_DGAIN" value="-1694.91503906"/>
+    <define name="PITCH_DGAIN" value="1694.91503906"/>
     <define name="PITCH_IGAIN" value="0"/>
 
     <define name="ELEVATOR_OF_ROLL" value="1520.73706055"/>

conf/airframes/mm/fixed-wing/twinstarmm.xml

@@ -160,7 +160,7 @@
     <define name="ROLL_PGAIN" value="6000."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
     <define name="PITCH_PGAIN" value="9000."/>
-    <define name="PITCH_DGAIN" value="-1700."/>
+    <define name="PITCH_DGAIN" value="1700."/>
 
     <define name="ELEVATOR_OF_ROLL" value="1500"/>
 

conf/airframes/mm/hangar/lila.xml

@@ -148,7 +148,7 @@
 
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
     <define name="PITCH_PGAIN" value="2500."/>
-    <define name="PITCH_DGAIN" value="-1000"/>
+    <define name="PITCH_DGAIN" value="1000"/>
 
     <define name="ELEVATOR_OF_ROLL" value="1100"/>
 

conf/airframes/twinstar_example.xml

@@ -172,7 +172,7 @@
     <define name="ROLL_PGAIN" value="6000."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
     <define name="PITCH_PGAIN" value="9000."/>
-    <define name="PITCH_DGAIN" value="-1700."/>
+    <define name="PITCH_DGAIN" value="1700."/>
 
     <define name="ELEVATOR_OF_ROLL" value="1500"/>
   </section>

conf/settings/tuning.xml

@@ -35,7 +35,7 @@
         <dl_setting MAX="25000" MIN="000" STEP="250" VAR="h_ctl_roll_pgain" shortname="roll_pgain" module="stabilization/stabilization_attitude"/>
         <dl_setting MAX="1" MIN="0" STEP="0.05" VAR="h_ctl_roll_max_setpoint" shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT"/>
         <dl_setting MAX="25000" MIN="0" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain" param="H_CTL_PITCH_PGAIN"/>
-        <dl_setting MAX="0" MIN="-50000" STEP="10" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/>
+        <dl_setting MAX="50000" MIN="0" STEP="10" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/>
         <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll" shortname="elevator_of_roll" param="H_CTL_ELEVATOR_OF_ROLL"/>
         <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
 

conf/settings/tuning_ctl_adaptive.xml

@@ -11,7 +11,7 @@
         <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="25000" MIN="0" 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="50000" MIN="0" 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"/>

conf/settings/tuning_ctl_new.xml

@@ -11,7 +11,7 @@
         <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="25000" MIN="0" 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="50000" MIN="0" 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"/>

conf/settings/tuning_infrared.xml

@@ -50,7 +50,7 @@
         <dl_setting MAX="25000" MIN="000" STEP="250" VAR="h_ctl_roll_pgain" shortname="roll_pgain" module="stabilization/stabilization_attitude"/>
         <dl_setting MAX="1" MIN="0" STEP="0.05" VAR="h_ctl_roll_max_setpoint" shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT"/>
         <dl_setting MAX="25000" MIN="0" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain" param="H_CTL_PITCH_PGAIN"/>
-        <dl_setting MAX="0" MIN="-50000" STEP="10" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/>
+        <dl_setting MAX="20" MIN="0" STEP="0.1" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/>
         <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll" shortname="elevator_of_roll" param="H_CTL_ELEVATOR_OF_ROLL"/>
         <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
 

conf/settings/tuning_loiter.xml

@@ -49,7 +49,7 @@
         <dl_setting MAX="25000" MIN="000" STEP="250" VAR="h_ctl_roll_pgain" shortname="roll_pgain" module="stabilization/stabilization_attitude"/>
         <dl_setting MAX="1" MIN="0" STEP="0.05" VAR="h_ctl_roll_max_setpoint" shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT"/>
         <dl_setting MAX="25000" MIN="0" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain" param="H_CTL_PITCH_PGAIN"/>
-        <dl_setting MAX="0" MIN="-50000" STEP="10" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/>
+        <dl_setting MAX="50000" MIN="0" STEP="10" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/>
         <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll" shortname="elevator_of_roll" param="H_CTL_ELEVATOR_OF_ROLL"/>
         <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
 

conf/settings/tuning_pers.xml

@@ -50,7 +50,7 @@
         <dl_setting MAX="25000" MIN="000" STEP="250" VAR="h_ctl_roll_pgain" shortname="roll_pgain" module="stabilization/stabilization_attitude"/>
         <dl_setting MAX="1" MIN="0" STEP="0.05" VAR="h_ctl_roll_max_setpoint" shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT"/>
         <dl_setting MAX="25000" MIN="0" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain" param="H_CTL_PITCH_PGAIN"/>
-        <dl_setting MAX="0" MIN="-50000" STEP="10" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/>
+        <dl_setting MAX="50000" MIN="0" STEP="10" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/>
         <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll" shortname="elevator_of_roll" param="H_CTL_ELEVATOR_OF_ROLL"/>
         <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
 

sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c

@@ -171,7 +171,7 @@ void h_ctl_init( void ) {
   h_ctl_pitch_setpoint = 0.;
   h_ctl_pitch_loop_setpoint = 0.;
   h_ctl_pitch_pgain = ABS(H_CTL_PITCH_PGAIN);
-  h_ctl_pitch_dgain = H_CTL_PITCH_DGAIN;
+  h_ctl_pitch_dgain = ABS(H_CTL_PITCH_DGAIN);
   h_ctl_pitch_igain = H_CTL_PITCH_IGAIN;
   h_ctl_pitch_sum_err = 0.;
   h_ctl_pitch_Kffa = H_CTL_PITCH_KFFA;
@@ -416,7 +416,7 @@ inline static void h_ctl_pitch_loop( void ) {
   float cmd = h_ctl_pitch_Kffa * h_ctl_ref_pitch_accel
     + h_ctl_pitch_Kffd * h_ctl_ref_pitch_rate
     - h_ctl_pitch_pgain * err
-    + h_ctl_pitch_dgain * d_err
+    - h_ctl_pitch_dgain * d_err
     + h_ctl_pitch_igain * h_ctl_pitch_sum_err;
 
   cmd /= airspeed_ratio2;

sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c

@@ -141,7 +141,7 @@ void h_ctl_init( void ) {
   h_ctl_pitch_setpoint = 0.;
   h_ctl_pitch_loop_setpoint = 0.;
   h_ctl_pitch_pgain = ABS(H_CTL_PITCH_PGAIN);
-  h_ctl_pitch_dgain = H_CTL_PITCH_DGAIN;
+  h_ctl_pitch_dgain = ABS(H_CTL_PITCH_DGAIN);
   h_ctl_elevator_setpoint = 0;
   h_ctl_elevator_of_roll = H_CTL_ELEVATOR_OF_ROLL;