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Merge pull request #127 from paparazzi/positive_control_gains

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Positive control gains
This commit is contained in:
Felix Ruess
2012-02-14 04:38:02 -08:00
parent ef76c8a866 fe3062931b
commit f7e2ea999e
191 changed files with 2075 additions and 2045 deletions
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conf/airframes/mm/fixed-wing/drops.xml
+9 -9
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@@ -148,7 +148,7 @@
<!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/-->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/>
<define name="ALTITUDE_PGAIN" value="0.06"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -159,12 +159,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.023"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.023"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.101000003517"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.06"/>
<define name="AUTO_PITCH_PGAIN" value="0.06"/>
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -174,22 +174,22 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.0340000391"/>
<define name="COURSE_PGAIN" value="1.0340000391"/>
<define name="ROLL_MAX_SETPOINT" value="0.60" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<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_PGAIN" value="8898.3046875"/>
<define name="PITCH_DGAIN" value="1694.91503906"/>
<define name="PITCH_IGAIN" value="0"/>
<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_IGAIN" value="-5000"/>
<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_KFFA" value="500"/>
<define name="ROLL_KFFD" value="0"/>