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changed NAV_GROUND_SPEED_PGAIN to positive

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This commit is contained in:
Felix Ruess
2011-11-29 19:24:26 +01:00
parent 225111d9bc
commit f5c23d899a
19 changed files with 20 additions and 20 deletions
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conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml
+1 -1
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@@ -166,7 +166,7 @@
<section name="NAV"> <section name="NAV">
<define name="NAV_PITCH" value="0."/> <define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/> <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
<define name="NAV_GROUND_SPEED_PGAIN" value="-0.01"/> <define name="NAV_GROUND_SPEED_PGAIN" value="0.01"/>
</section> </section>
<section name="AGGRESSIVE" prefix="AGR_"> <section name="AGGRESSIVE" prefix="AGR_">
conf/airframes/LAAS/mmlaas_N1.xml
+1 -1
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@@ -182,7 +182,7 @@
<section name="NAV"> <section name="NAV">
<define name="NAV_PITCH" value="0."/> <define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/> <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
<define name="NAV_GROUND_SPEED_PGAIN" value="-0.015"/> <define name="NAV_GROUND_SPEED_PGAIN" value="0.015"/>
<define name="NAV_FOLLOW_PGAIN" value="-0.05"/> <define name="NAV_FOLLOW_PGAIN" value="-0.05"/>
</section> </section>
conf/airframes/LAAS/mmlaas_N2.xml
+1 -1
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@@ -178,7 +178,7 @@
<section name="NAV"> <section name="NAV">
<define name="NAV_PITCH" value="0."/> <define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/> <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
<define name="NAV_GROUND_SPEED_PGAIN" value="-0.015"/> <define name="NAV_GROUND_SPEED_PGAIN" value="0.015"/>
<define name="NAV_FOLLOW_PGAIN" value="-0.05"/> <define name="NAV_FOLLOW_PGAIN" value="-0.05"/>
</section> </section>
conf/airframes/LAAS/mmlaas_N3.xml
+1 -1
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@@ -178,7 +178,7 @@
<section name="NAV"> <section name="NAV">
<define name="NAV_PITCH" value="0."/> <define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/> <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
<define name="NAV_GROUND_SPEED_PGAIN" value="-0.015"/> <define name="NAV_GROUND_SPEED_PGAIN" value="0.015"/>
<define name="NAV_FOLLOW_PGAIN" value="-0.05"/> <define name="NAV_FOLLOW_PGAIN" value="-0.05"/>
</section> </section>
conf/airframes/TU_Delft/MicrojetBR.xml
+1 -1
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@@ -170,7 +170,7 @@
<section name="NAV"> <section name="NAV">
<define name="NAV_PITCH" value="0."/> <define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0."/> <define name="NAV_GLIDE_PITCH_TRIM" value="0."/>
<!-- <define name="NAV_GROUND_SPEED_PGAIN" value="-0.015"/> NOG niet in de nav.c file <!-- <define name="NAV_GROUND_SPEED_PGAIN" value="0.015"/> NOG niet in de nav.c file
<define name="NAV_FOLLOW_PGAIN" value="-0.05"/> --> <define name="NAV_FOLLOW_PGAIN" value="-0.05"/> -->
</section> </section>
conf/airframes/TU_Delft/MicrojetBRimu.xml
+1 -1
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@@ -206,7 +206,7 @@
<section name="NAV"> <section name="NAV">
<define name="NAV_PITCH" value="0."/> <define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0."/> <define name="NAV_GLIDE_PITCH_TRIM" value="0."/>
<!-- <define name="NAV_GROUND_SPEED_PGAIN" value="-0.015"/> NOG niet in de nav.c file <!-- <define name="NAV_GROUND_SPEED_PGAIN" value="0.015"/> NOG niet in de nav.c file
<define name="NAV_FOLLOW_PGAIN" value="-0.05"/> --> <define name="NAV_FOLLOW_PGAIN" value="-0.05"/> -->
</section> </section>
conf/airframes/obsolete/microjet6.xml
+1 -1
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@@ -165,7 +165,7 @@
<section name="NAV"> <section name="NAV">
<define name="NAV_PITCH" value="0."/> <define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/> <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
<define name="NAV_GROUND_SPEED_PGAIN" value="-0.015"/> <define name="NAV_GROUND_SPEED_PGAIN" value="0.015"/>
<define name="NAV_FOLLOW_PGAIN" value="-0.05"/> <define name="NAV_FOLLOW_PGAIN" value="-0.05"/>
</section> </section>
conf/airframes/obsolete/mmlaas_N1_carto_cam.xml
+1 -1
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@@ -144,7 +144,7 @@
<section name="NAV"> <section name="NAV">
<define name="NAV_PITCH" value="0."/> <define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/> <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
<define name="NAV_GROUND_SPEED_PGAIN" value="-0.015"/> <define name="NAV_GROUND_SPEED_PGAIN" value="0.015"/>
<define name="NAV_FOLLOW_PGAIN" value="-0.05"/> <define name="NAV_FOLLOW_PGAIN" value="-0.05"/>
</section> </section>
conf/settings/tuning.xml
+1 -1
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@@ -84,7 +84,7 @@
<dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/> <dl_setting MAX="15" MIN="-15" 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="-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="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="0.2" MIN="0" 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_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
</dl_settings> </dl_settings>
</dl_settings> </dl_settings>
conf/settings/tuningJH.xml
+1 -1
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@@ -84,7 +84,7 @@
<dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"> <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift">
</dl_setting> </dl_setting>
<dl_setting MAX="20" MIN="10" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/> <dl_setting MAX="20" MIN="10" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
<dl_setting MAX="0." MIN="-0.05" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/> <dl_setting MAX="0.05" MIN="0" 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_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
</dl_settings> </dl_settings>
</dl_settings> </dl_settings>
conf/settings/tuning_ctl_adaptive.xml
+1 -1
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@@ -62,7 +62,7 @@
<dl_setting MAX="20" MIN="-20" STEP="1" VAR="fp_pitch"/> <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="-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="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="0.2" MIN="0" 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_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
</dl_settings> </dl_settings>
</dl_settings> </dl_settings>
conf/settings/tuning_ctl_new.xml
+1 -1
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@@ -80,7 +80,7 @@
<dl_setting MAX="20" MIN="-20" STEP="1" VAR="fp_pitch"/> <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="-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="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="0.2" MIN="0" 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_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
</dl_settings> </dl_settings>
</dl_settings> </dl_settings>
conf/settings/tuning_infrared.xml
+1 -1
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@@ -101,7 +101,7 @@
<dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/> <dl_setting MAX="15" MIN="-15" 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="-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="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="0.2" MIN="0" 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_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
</dl_settings> </dl_settings>
</dl_settings> </dl_settings>
conf/settings/tuning_ins.xml
+1 -1
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@@ -92,7 +92,7 @@
<dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/> <dl_setting MAX="15" MIN="-15" 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="-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="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="0.2" MIN="0" 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_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
</dl_settings> </dl_settings>
</dl_settings> </dl_settings>
conf/settings/tuning_ins_dcm.xml
+1 -1
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@@ -95,7 +95,7 @@
<dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/> <dl_setting MAX="15" MIN="-15" 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="-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="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="0.2" MIN="0" 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_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
</dl_settings> </dl_settings>
</dl_settings> </dl_settings>
conf/settings/tuning_loiter.xml
+1 -1
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@@ -100,7 +100,7 @@
<dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/> <dl_setting MAX="15" MIN="-15" 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="-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="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="0.2" MIN="0" 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_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
</dl_settings> </dl_settings>
</dl_settings> </dl_settings>
conf/settings/tuning_pers.xml
+1 -1
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@@ -101,7 +101,7 @@
<dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/> <dl_setting MAX="15" MIN="-15" 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="-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="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="0.2" MIN="0" 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_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
</dl_settings> </dl_settings>
</dl_settings> </dl_settings>
conf/settings/tuning_tp_auto.xml
+1 -1
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@@ -74,7 +74,7 @@
<dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"> <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift">
</dl_setting> </dl_setting>
<dl_setting MAX="20" MIN="10" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/> <dl_setting MAX="20" MIN="10" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
<dl_setting MAX="0." MIN="-0.05" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/> <dl_setting MAX="0.05" MIN="0" 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_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
</dl_settings> </dl_settings>
</dl_settings> </dl_settings>
sw/airborne/subsystems/nav.c
+2 -2
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@@ -209,7 +209,7 @@ static void nav_ground_speed_loop( void ) {
if (MINIMUM_AIRSPEED < nav_ground_speed_setpoint if (MINIMUM_AIRSPEED < nav_ground_speed_setpoint
&& nav_ground_speed_setpoint < MAXIMUM_AIRSPEED) { && nav_ground_speed_setpoint < MAXIMUM_AIRSPEED) {
float err = estimator_hspeed_mod - nav_ground_speed_setpoint; float err = estimator_hspeed_mod - nav_ground_speed_setpoint;
v_ctl_auto_throttle_cruise_throttle += nav_ground_speed_pgain*err; v_ctl_auto_throttle_cruise_throttle -= nav_ground_speed_pgain*err;
Bound(v_ctl_auto_throttle_cruise_throttle, V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE, V_CTL_AUTO_THROTTLE_MAX_CRUISE_THROTTLE); Bound(v_ctl_auto_throttle_cruise_throttle, V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE, V_CTL_AUTO_THROTTLE_MAX_CRUISE_THROTTLE);
} else { } else {
/* Reset cruise throttle to nominal value */ /* Reset cruise throttle to nominal value */
@@ -424,7 +424,7 @@ void nav_init(void) {
nav_mode = NAV_MODE_COURSE; nav_mode = NAV_MODE_COURSE;
#ifdef NAV_GROUND_SPEED_PGAIN #ifdef NAV_GROUND_SPEED_PGAIN
nav_ground_speed_pgain = NAV_GROUND_SPEED_PGAIN; nav_ground_speed_pgain = ABS(NAV_GROUND_SPEED_PGAIN);
nav_ground_speed_setpoint = NOMINAL_AIRSPEED; nav_ground_speed_setpoint = NOMINAL_AIRSPEED;
#endif #endif
} }