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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/funjeteth2.xml
+7 -7
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@@ -106,7 +106,7 @@
<define name="POWER_CTL_BAT_NOMINAL" value="10" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
<define name="ALTITUDE_PGAIN" value="0.06"/> <!-- -0.024 -->
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -117,12 +117,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="50"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-60"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
<define name="AUTO_THROTTLE_PGAIN" value="0.023"/> <!-- -0.012 -->
<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
<define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
<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"/>
@@ -132,20 +132,20 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.8"/>
<define name="COURSE_PGAIN" value="0.8"/>
<define name="ROLL_MAX_SETPOINT" value="0.49" unit="rad"/> <!-- 0.5 -->
<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="6600."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-5500."/>
<define name="PITCH_PGAIN" value="5500."/>
<define name="PITCH_DGAIN" value="0.4"/>
<define name="ELEVATOR_OF_ROLL" value="1200"/>
<!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/-->
<!--define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="1500"/-->
</section>