From e08ca582986c95b91dc360a4cc115f298c01d476 Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Tue, 29 Nov 2011 22:44:29 +0100
Subject: [PATCH] change h_ctl_roll_igain to positive (only
 stabilization_adaptive)

---
 conf/airframes/ENAC/fixed-wing/firestorm.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/malolo_sim.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/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/twinjet2.xml            |  2 +-
 conf/airframes/ENAC/fixed-wing/weasel.xml              |  2 +-
 conf/airframes/flixr_discovery.xml                     |  2 +-
 conf/airframes/mm/fixed-wing/drops.xml                 |  2 +-
 conf/airframes/mm/hangar/lila.xml                      |  2 +-
 conf/settings/fw_h_ctl_a_settings.xml                  |  2 +-
 conf/settings/tuning_ctl_adaptive.xml                  |  2 +-
 conf/settings/tuning_ctl_new.xml                       |  2 +-
 .../fixedwing/stabilization/stabilization_adaptive.c   | 10 +++++-----
 22 files changed, 26 insertions(+), 26 deletions(-)

diff --git a/conf/airframes/ENAC/fixed-wing/firestorm.xml b/conf/airframes/ENAC/fixed-wing/firestorm.xml
index 2cb951e510..395b801370 100644
--- a/conf/airframes/ENAC/fixed-wing/firestorm.xml
+++ b/conf/airframes/ENAC/fixed-wing/firestorm.xml
@@ -190,7 +190,7 @@
     <define name="ROLL_RATE_GAIN" value="850"/>
 
     <define name="ROLL_KFF" value="-500"/>
-    <define name="ROLL_IGAIN" value="-00"/>
+    <define name="ROLL_IGAIN" value="00"/>
     <define name="PITCH_IGAIN" value="-500"/>
   </section>
 
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml b/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
index bd247962e0..1c5326bf94 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
@@ -197,7 +197,7 @@
 
     <define name="ROLL_ATTITUDE_GAIN" value="9000."/>
     <define name="ROLL_RATE_GAIN" value="3000."/>
-    <define name="ROLL_IGAIN" value="-500"/>
+    <define name="ROLL_IGAIN" value="500"/>
     <define name="ROLL_KFFA" value="-500"/>
     <define name="ROLL_KFFD" value="-500"/>
 
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2_new.xml b/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
index 9defd25e66..e2ae1b5c18 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
@@ -197,7 +197,7 @@
 
     <define name="ROLL_ATTITUDE_GAIN" value="9000."/>
     <define name="ROLL_RATE_GAIN" value="3000."/>
-    <define name="ROLL_IGAIN" value="-0"/>
+    <define name="ROLL_IGAIN" value="0"/>
     <define name="ROLL_KFFA" value="0"/>
     <define name="ROLL_KFFD" value="0"/>
 
diff --git a/conf/airframes/ENAC/fixed-wing/funjet3.xml b/conf/airframes/ENAC/fixed-wing/funjet3.xml
index 029ac2a5af..591cd03a9c 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet3.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet3.xml
@@ -174,7 +174,7 @@
 
     <define name="ROLL_ATTITUDE_GAIN" value="6000."/>
     <define name="ROLL_RATE_GAIN" value="1000."/>
-    <define name="ROLL_IGAIN" value="-400."/>
+    <define name="ROLL_IGAIN" value="400."/>
     <define name="ROLL_KFFA" value="0"/>
     <define name="ROLL_KFFD" value="0"/>
 
diff --git a/conf/airframes/ENAC/fixed-wing/merlin.xml b/conf/airframes/ENAC/fixed-wing/merlin.xml
index 3272494d7b..c23c7a37e5 100644
--- a/conf/airframes/ENAC/fixed-wing/merlin.xml
+++ b/conf/airframes/ENAC/fixed-wing/merlin.xml
@@ -158,7 +158,7 @@
 
     <define name="ROLL_ATTITUDE_GAIN" value="5900"/>
     <define name="ROLL_RATE_GAIN" value="2900"/>
-    <define name="ROLL_IGAIN" value="-500"/>
+    <define name="ROLL_IGAIN" value="500"/>
     <define name="ROLL_KFFA" value="-500"/>
     <define name="ROLL_KFFD" value="-500"/>
 
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml b/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml
index f2c08433ad..f25bebc0c8 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml
@@ -174,7 +174,7 @@ on<!DOCTYPE airframe SYSTEM "airframe.dtd">
     <define name="ROLL_RATE_GAIN" value="2923.72900391"/>
 
     <define name="ROLL_KFF" value="-500"/>
-    <define name="ROLL_IGAIN" value="-5000"/>
+    <define name="ROLL_IGAIN" value="5000"/>
   </section>
 
   <section name="NAV">
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml b/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml
index 5422b9349a..99b364a0e1 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml
@@ -157,7 +157,7 @@
     <define name="ROLL_RATE_GAIN" value="1527.7779541"/>
 
     <define name="ROLL_KFF" value="-500"/>
-    <define name="ROLL_IGAIN" value="-500"/>
+    <define name="ROLL_IGAIN" value="500"/>
     <define name="PITCH_IGAIN" value="-500"/>
   </section>
 
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml b/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml
index 03a7a582a7..4484dc92dc 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml
@@ -155,7 +155,7 @@
 
     <define name="ROLL_KFFP" value="-500"/>
     <define name="ROLL_KFFD" value="0"/>
-    <define name="ROLL_IGAIN" value="-5000"/>
+    <define name="ROLL_IGAIN" value="5000"/>
   </section>
 
   <section name="NAV">
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml b/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml
index c894c27b90..b809b311f9 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml
@@ -159,7 +159,7 @@
     <define name="ROLL_RATE_GAIN" value="2500"/>
 
     <define name="ROLL_KFF" value="-500"/>
-    <define name="ROLL_IGAIN" value="-00"/>
+    <define name="ROLL_IGAIN" value="00"/>
     <define name="PITCH_IGAIN" value="-500"/>
   </section>
 
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml b/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml
index 95faccdb10..a341979ffe 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml
@@ -161,7 +161,7 @@
     <define name="ROLL_RATE_GAIN" value="1779.66101074"/>
 
     <define name="ROLL_KFF" value="-500"/>
-    <define name="ROLL_IGAIN" value="-500"/>
+    <define name="ROLL_IGAIN" value="500"/>
     <define name="PITCH_IGAIN" value="-500"/>
   </section>
 
diff --git a/conf/airframes/ENAC/fixed-wing/spocIII-1.xml b/conf/airframes/ENAC/fixed-wing/spocIII-1.xml
index 2dc022036e..376e08dfbb 100644
--- a/conf/airframes/ENAC/fixed-wing/spocIII-1.xml
+++ b/conf/airframes/ENAC/fixed-wing/spocIII-1.xml
@@ -162,7 +162,7 @@
     <define name="ROLL_RATE_GAIN" value="2700"/>
 
     <define name="ROLL_KFF" value="-500"/>
-    <define name="ROLL_IGAIN" value="-500"/>
+    <define name="ROLL_IGAIN" value="500"/>
     <define name="PITCH_IGAIN" value="-500"/>
   </section>
 
diff --git a/conf/airframes/ENAC/fixed-wing/spocIII-2.xml b/conf/airframes/ENAC/fixed-wing/spocIII-2.xml
index b10aa94644..30c186605b 100644
--- a/conf/airframes/ENAC/fixed-wing/spocIII-2.xml
+++ b/conf/airframes/ENAC/fixed-wing/spocIII-2.xml
@@ -182,7 +182,7 @@
 
     <define name="ROLL_ATTITUDE_GAIN" value="8500."/>
     <define name="ROLL_RATE_GAIN" value="2400."/>
-    <define name="ROLL_IGAIN" value="-0."/>
+    <define name="ROLL_IGAIN" value="0."/>
     <define name="ROLL_KFFA" value="0"/>
     <define name="ROLL_KFFD" value="0"/>
 
diff --git a/conf/airframes/ENAC/fixed-wing/spocIII-3.xml b/conf/airframes/ENAC/fixed-wing/spocIII-3.xml
index 06dbb849fd..636fcf74e5 100644
--- a/conf/airframes/ENAC/fixed-wing/spocIII-3.xml
+++ b/conf/airframes/ENAC/fixed-wing/spocIII-3.xml
@@ -185,7 +185,7 @@
 
     <define name="ROLL_ATTITUDE_GAIN" value="8500."/>
     <define name="ROLL_RATE_GAIN" value="2400."/>
-    <define name="ROLL_IGAIN" value="-0."/>
+    <define name="ROLL_IGAIN" value="0."/>
     <define name="ROLL_KFFA" value="0"/>
     <define name="ROLL_KFFD" value="0"/>
 
diff --git a/conf/airframes/ENAC/fixed-wing/twinjet2.xml b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
index c478048637..81e727c907 100644
--- a/conf/airframes/ENAC/fixed-wing/twinjet2.xml
+++ b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
@@ -172,7 +172,7 @@
 
     <define name="ROLL_ATTITUDE_GAIN" value="3553.89208984"/>
     <define name="ROLL_RATE_GAIN" value="0."/>
-    <define name="ROLL_IGAIN" value="-500"/>
+    <define name="ROLL_IGAIN" value="500"/>
     <define name="ROLL_KFFA" value="-500"/>
     <define name="ROLL_KFFD" value="-500"/>
 
diff --git a/conf/airframes/ENAC/fixed-wing/weasel.xml b/conf/airframes/ENAC/fixed-wing/weasel.xml
index d410fb0b4e..116ba8483c 100644
--- a/conf/airframes/ENAC/fixed-wing/weasel.xml
+++ b/conf/airframes/ENAC/fixed-wing/weasel.xml
@@ -198,7 +198,7 @@
 
     <define name="ROLL_ATTITUDE_GAIN" value="3800."/>
     <define name="ROLL_RATE_GAIN" value="500."/>
-    <define name="ROLL_IGAIN" value="-150."/>
+    <define name="ROLL_IGAIN" value="150."/>
     <define name="ROLL_KFFA" value="0"/>
     <define name="ROLL_KFFD" value="0"/>
 
diff --git a/conf/airframes/flixr_discovery.xml b/conf/airframes/flixr_discovery.xml
index 40728091c7..f1b886777a 100644
--- a/conf/airframes/flixr_discovery.xml
+++ b/conf/airframes/flixr_discovery.xml
@@ -315,7 +315,7 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
     <define name="ROLL_RATE_GAIN" value="1500"/>
 
     <!-- only for stabilization adaptive -->
-    <define name="ROLL_IGAIN" value="-500"/>
+    <define name="ROLL_IGAIN" value="500"/>
     <define name="ROLL_KFFA" value="0."/>
     <define name="ROLL_KFFD" value="0."/>
 
diff --git a/conf/airframes/mm/fixed-wing/drops.xml b/conf/airframes/mm/fixed-wing/drops.xml
index f66f9ed971..704efc3951 100644
--- a/conf/airframes/mm/fixed-wing/drops.xml
+++ b/conf/airframes/mm/fixed-wing/drops.xml
@@ -189,7 +189,7 @@
 
     <define name="ROLL_ATTITUDE_GAIN" value="5847.45800781"/>
     <define name="ROLL_RATE_GAIN" value="2923.72900391"/>
-    <define name="ROLL_IGAIN" value="-5000"/>
+    <define name="ROLL_IGAIN" value="5000"/>
 
     <define name="ROLL_KFFA" value="500"/>
     <define name="ROLL_KFFD" value="0"/>
diff --git a/conf/airframes/mm/hangar/lila.xml b/conf/airframes/mm/hangar/lila.xml
index ef3f729366..ec7257b5fc 100644
--- a/conf/airframes/mm/hangar/lila.xml
+++ b/conf/airframes/mm/hangar/lila.xml
@@ -156,7 +156,7 @@
     <!--define name="ROLL_RATE_GAIN" value="1500"/-->
 
     <define name="ROLL_KFF" value="-500"/>
-    <define name="ROLL_IGAIN" value="-500"/>
+    <define name="ROLL_IGAIN" value="500"/>
   </section>
 
   <section name="NAV">
diff --git a/conf/settings/fw_h_ctl_a_settings.xml b/conf/settings/fw_h_ctl_a_settings.xml
index 4defb5ded3..29321bb462 100644
--- a/conf/settings/fw_h_ctl_a_settings.xml
+++ b/conf/settings/fw_h_ctl_a_settings.xml
@@ -9,7 +9,7 @@
       <dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_roll_Kffd" module="stabilization/stabilization_adaptive" shortname="roll_Kffd"/>
       <dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_pitch_Kffa" module="stabilization/stabilization_adaptive" shortname="pitch_Kffa"/>
       <dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_pitch_Kffd" module="stabilization/stabilization_adaptive" shortname="pitch_Kffd"/>
-      <dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_roll_igain" module="stabilization/stabilization_adaptive" handler="SetRollIGain"/>
+      <dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_roll_igain" module="stabilization/stabilization_adaptive" handler="SetRollIGain"/>
       <dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_pitch_igain" module="stabilization/stabilization_adaptive" handler="SetPitchIGain"/>
     </dl_settings>
   </dl_settings>
diff --git a/conf/settings/tuning_ctl_adaptive.xml b/conf/settings/tuning_ctl_adaptive.xml
index 122621608a..3ecf4da4ff 100644
--- a/conf/settings/tuning_ctl_adaptive.xml
+++ b/conf/settings/tuning_ctl_adaptive.xml
@@ -9,7 +9,7 @@
       <dl_settings NAME="attitude">
         <dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll_pgain" param="H_CTL_ROLL_ATTITUDE_GAIN" module="stabilization/stabilization_attitude"/>
         <dl_setting MAX="15000" MIN="0" 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="5000" MIN="0" 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="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"/>
diff --git a/conf/settings/tuning_ctl_new.xml b/conf/settings/tuning_ctl_new.xml
index 319c7ed3c3..f3a16c0e0e 100644
--- a/conf/settings/tuning_ctl_new.xml
+++ b/conf/settings/tuning_ctl_new.xml
@@ -9,7 +9,7 @@
       <dl_settings NAME="attitude">
         <dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll_pgain" param="H_CTL_ROLL_ATTITUDE_GAIN" module="stabilization/stabilization_attitude"/>
         <dl_setting MAX="15000" MIN="0" 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="5000" MIN="0" 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="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"/>
diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
index a41a8b29cc..dc0786f559 100644
--- a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
+++ b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
@@ -159,7 +159,7 @@ 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 = ABS(H_CTL_ROLL_RATE_GAIN);
-  h_ctl_roll_igain = H_CTL_ROLL_IGAIN;
+  h_ctl_roll_igain = ABS(H_CTL_ROLL_IGAIN);
   h_ctl_roll_sum_err = 0;
   h_ctl_roll_Kffa = H_CTL_ROLL_KFFA;
   h_ctl_roll_Kffd = H_CTL_ROLL_KFFD;
@@ -299,9 +299,9 @@ inline static void h_ctl_roll_loop( void ) {
     h_ctl_roll_sum_err = 0.;
   }
   else {
-    if (h_ctl_roll_igain < 0.) {
+    if (h_ctl_roll_igain > 0.) {
       h_ctl_roll_sum_err += err * H_CTL_REF_DT;
-      BoundAbs(h_ctl_roll_sum_err, (- H_CTL_ROLL_SUM_ERR_MAX / h_ctl_roll_igain));
+      BoundAbs(h_ctl_roll_sum_err, H_CTL_ROLL_SUM_ERR_MAX / h_ctl_roll_igain);
     } else {
       h_ctl_roll_sum_err = 0.;
     }
@@ -312,13 +312,13 @@ inline static void h_ctl_roll_loop( void ) {
     + h_ctl_roll_Kffd * h_ctl_ref_roll_rate
     - cmd_fb
     + h_ctl_roll_rate_gain * d_err
-    - h_ctl_roll_igain * h_ctl_roll_sum_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_igain * h_ctl_roll_sum_err
+//    + h_ctl_roll_igain * h_ctl_roll_sum_err
 //    + v_ctl_throttle_setpoint * h_ctl_aileron_of_throttle;
 //
   cmd /= airspeed_ratio2;