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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/CDW/ChimuLisaFw.xml
+6 -6
View File
@@ -66,7 +66,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/> <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain --> <!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.03"/> <define name="ALTITUDE_PGAIN" value="0.03"/>
<!-- outer loop saturation --> <!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/> <define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -77,7 +77,7 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/> <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/> <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/> <define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/> <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
@@ -85,21 +85,21 @@
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.4"/> <define name="COURSE_PGAIN" value="1.4"/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/> <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/> <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/> <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-12000."/> <define name="PITCH_PGAIN" value="12000."/>
<define name="PITCH_DGAIN" value="1.5"/> <define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/> <define name="ELEVATOR_OF_ROLL" value="1250"/>
<define name="ROLL_SLEW" value="0.1"/> <define name="ROLL_SLEW" value="0.1"/>
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/> <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/> <define name="ROLL_RATE_GAIN" value="1500"/>
</section> </section>
<section name="AGGRESSIVE" prefix="AGR_"> <section name="AGGRESSIVE" prefix="AGR_">
conf/airframes/CDW/ChimuTinyFw.xml
+6 -6
View File
@@ -90,7 +90,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/> <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain --> <!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.03"/> <define name="ALTITUDE_PGAIN" value="0.03"/>
<!-- outer loop saturation --> <!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/> <define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -101,7 +101,7 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/> <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/> <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/> <define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/> <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
@@ -109,7 +109,7 @@
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.20000004768"/> <define name="COURSE_PGAIN" value="1.20000004768"/>
<define name="COURSE_DGAIN" value="0.3"/> <define name="COURSE_DGAIN" value="0.3"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/> <define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
@@ -117,13 +117,13 @@
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/> <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/> <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-12000."/> <define name="PITCH_PGAIN" value="12000."/>
<define name="PITCH_DGAIN" value="0"/> <define name="PITCH_DGAIN" value="0"/>
<define name="ELEVATOR_OF_ROLL" value="1000."/> <define name="ELEVATOR_OF_ROLL" value="1000."/>
<define name="ROLL_ATTITUDE_GAIN" value="-11500"/> <define name="ROLL_ATTITUDE_GAIN" value="11500"/>
<define name="ROLL_RATE_GAIN" value="-600."/> <define name="ROLL_RATE_GAIN" value="600."/>
</section> </section>
<section name="AGGRESSIVE" prefix="AGR_"> <section name="AGGRESSIVE" prefix="AGR_">
conf/airframes/CDW/ChimuTinyFwSpi.xml
+6 -6
View File
@@ -90,7 +90,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/> <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain --> <!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.03"/> <define name="ALTITUDE_PGAIN" value="0.03"/>
<!-- outer loop saturation --> <!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/> <define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -101,7 +101,7 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/> <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/> <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/> <define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/> <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
@@ -109,7 +109,7 @@
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.20000004768"/> <define name="COURSE_PGAIN" value="1.20000004768"/>
<define name="COURSE_DGAIN" value="0.3"/> <define name="COURSE_DGAIN" value="0.3"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/> <define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
@@ -117,13 +117,13 @@
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/> <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/> <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-12000."/> <define name="PITCH_PGAIN" value="12000."/>
<define name="PITCH_DGAIN" value="0"/> <define name="PITCH_DGAIN" value="0"/>
<define name="ELEVATOR_OF_ROLL" value="1000."/> <define name="ELEVATOR_OF_ROLL" value="1000."/>
<define name="ROLL_ATTITUDE_GAIN" value="-11500"/> <define name="ROLL_ATTITUDE_GAIN" value="11500"/>
<define name="ROLL_RATE_GAIN" value="-600."/> <define name="ROLL_RATE_GAIN" value="600."/>
</section> </section>
<section name="AGGRESSIVE" prefix="AGR_"> <section name="AGGRESSIVE" prefix="AGR_">
conf/airframes/CDW/debug_i2c.xml
+29 -29
View File
@@ -84,9 +84,9 @@
<define name="SP_MAX_Q" value="10000"/> <define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/> <define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/> <define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="-400"/> <define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="-350"/> <define name="GAIN_R" value="350"/>
</section> </section>
@@ -115,17 +115,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/> <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- gaui props <!-- gaui props
<define name="PHI_PGAIN" value="-900"/> <define name="PHI_PGAIN" value="900"/>
<define name="PHI_DGAIN" value="-200"/> <define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="-200"/> <define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-900"/> <define name="THETA_PGAIN" value="900"/>
<define name="THETA_DGAIN" value="-200"/> <define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="-200"/> <define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-900"/> <define name="PSI_PGAIN" value="900"/>
<define name="PSI_DGAIN" value="-200"/> <define name="PSI_DGAIN" value="200"/>
<define name="PSI_IGAIN" value="-10"/> <define name="PSI_IGAIN" value="10"/>
<define name="PHI_DDGAIN" value=" 200"/> <define name="PHI_DDGAIN" value=" 200"/>
<define name="THETA_DDGAIN" value=" 200"/> <define name="THETA_DDGAIN" value=" 200"/>
@@ -133,17 +133,17 @@
--> -->
<!-- feedback --> <!-- feedback -->
<define name="PHI_PGAIN" value="-2000"/> <define name="PHI_PGAIN" value="2000"/>
<define name="PHI_DGAIN" value="-400"/> <define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="-200"/> <define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-2000"/> <define name="THETA_PGAIN" value="2000"/>
<define name="THETA_DGAIN" value="-400"/> <define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="-200"/> <define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-2000"/> <define name="PSI_PGAIN" value="2000"/>
<define name="PSI_DGAIN" value="-400"/> <define name="PSI_DGAIN" value="400"/>
<define name="PSI_IGAIN" value="-10"/> <define name="PSI_IGAIN" value="10"/>
<!-- feedforward --> <!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/> <define name="PHI_DDGAIN" value=" 300"/>
@@ -172,12 +172,12 @@
<define name="MAX_SUM_ERR" value="2000000"/> <define name="MAX_SUM_ERR" value="2000000"/>
<!-- <!--
<define name="HOVER_KP" value="-500"/> <define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="-200"/> <define name="HOVER_KD" value="200"/>
<define name="HOVER_KI" value="0"/> <define name="HOVER_KI" value="0"/>
--> -->
<define name="HOVER_KP" value="-150"/> <define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="-80"/> <define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="0"/> <define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) --> <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
@@ -189,10 +189,10 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-50"/> <define name="PGAIN" value="50"/>
<define name="DGAIN" value="-100"/> <define name="DGAIN" value="100"/>
<define name="IGAIN" value="-15"/> <define name="IGAIN" value="15"/>
<define name="NGAIN" value="-0"/> <define name="NGAIN" value="0"/>
</section> </section>
<section name="MISC"> <section name="MISC">
conf/airframes/ENAC/fixed-wing/firestorm.xml
+9 -9
View File
@@ -149,7 +149,7 @@
<!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ --> <!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ -->
<!-- outer loop proportional gain --> <!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.04"/> <define name="ALTITUDE_PGAIN" value="0.04"/>
<!-- outer loop saturation --> <!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/> <define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -160,12 +160,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/> <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-2500"/> <define name="AUTO_THROTTLE_DASH_TRIM" value="-2500"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.05" unit="%/(m/s)"/> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.05" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.007"/> <define name="AUTO_THROTTLE_PGAIN" value="0.007"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.067"/> <define name="AUTO_THROTTLE_IGAIN" value="0.067"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.11"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.11"/>
<!-- auto pitch inner loop --> <!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.05"/> <define name="AUTO_PITCH_PGAIN" value="0.05"/>
<define name="AUTO_PITCH_IGAIN" value="0.075"/> <define name="AUTO_PITCH_IGAIN" value="0.075"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/> <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/> <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -175,23 +175,23 @@
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.9"/> <define name="COURSE_PGAIN" value="0.9"/>
<define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="rad"/> <define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/> <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/> <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-14255.3193359"/> <define name="PITCH_PGAIN" value="14255.3193359"/>
<define name="PITCH_DGAIN" value="1.5"/> <define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="2000."/> <define name="ELEVATOR_OF_ROLL" value="2000."/>
<define name="ROLL_ATTITUDE_GAIN" value="-2600"/> <define name="ROLL_ATTITUDE_GAIN" value="2600"/>
<define name="ROLL_RATE_GAIN" value="-850"/> <define name="ROLL_RATE_GAIN" value="850"/>
<define name="ROLL_KFF" value="-500"/> <define name="ROLL_KFF" value="-500"/>
<define name="ROLL_IGAIN" value="-00"/> <define name="ROLL_IGAIN" value="00"/>
<define name="PITCH_IGAIN" value="-500"/> <define name="PITCH_IGAIN" value="500"/>
</section> </section>
<section name="NAV"> <section name="NAV">
conf/airframes/ENAC/fixed-wing/funjet2.xml
+7 -7
View File
@@ -144,7 +144,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
<!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/--> <!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/-->
<!-- outer loop proportional gain --> <!-- 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 --> <!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="3."/> <define name="ALTITUDE_MAX_CLIMB" value="3."/>
@@ -155,12 +155,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/> <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/> <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/> <define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.04"/> <define name="AUTO_THROTTLE_IGAIN" value="0.04"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
<!-- auto pitch inner loop --> <!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.03"/> <define name="AUTO_PITCH_PGAIN" value="0.03"/>
<define name="AUTO_PITCH_IGAIN" value="0.0"/> <define name="AUTO_PITCH_IGAIN" value="0.0"/>
<define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/> <define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/> <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
@@ -170,15 +170,15 @@
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1."/> <define name="COURSE_PGAIN" value="1."/>
<define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/> <define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/> <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/> <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-9000."/> <define name="ROLL_ATTITUDE_GAIN" value="9000."/>
<define name="ROLL_RATE_GAIN" value="-3000."/> <define name="ROLL_RATE_GAIN" value="3000."/>
<define name="PITCH_PGAIN" value="-20000."/> <define name="PITCH_PGAIN" value="20000."/>
<define name="PITCH_DGAIN" value="0.4"/> <define name="PITCH_DGAIN" value="0.4"/>
<define name="AILERON_OF_THROTTLE" value="0.0"/> <define name="AILERON_OF_THROTTLE" value="0.0"/>
conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
+13 -13
View File
@@ -149,7 +149,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
<!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/--> <!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/-->
<!-- outer loop proportional gain --> <!-- 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 --> <!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="3."/> <define name="ALTITUDE_MAX_CLIMB" value="3."/>
@@ -160,14 +160,14 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/> <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/> <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/> <define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.04"/> <define name="AUTO_THROTTLE_IGAIN" value="0.04"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
<!-- auto pitch inner loop --> <!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.03"/> <define name="AUTO_PITCH_PGAIN" value="0.03"/>
<define name="AUTO_PITCH_DGAIN" value="-0.0"/> <define name="AUTO_PITCH_DGAIN" value="0.0"/>
<define name="AUTO_PITCH_IGAIN" value="-0.0"/> <define name="AUTO_PITCH_IGAIN" value="0.0"/>
<define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/> <define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/> <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/> <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -190,20 +190,20 @@
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1."/> <define name="COURSE_PGAIN" value="1."/>
<define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/> <define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/> <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/> <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-9000."/> <define name="ROLL_ATTITUDE_GAIN" value="9000."/>
<define name="ROLL_RATE_GAIN" value="-3000."/> <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_KFFA" value="500"/>
<define name="ROLL_KFFD" value="-500"/> <define name="ROLL_KFFD" value="500"/>
<define name="PITCH_PGAIN" value="-20000."/> <define name="PITCH_PGAIN" value="20000."/>
<define name="PITCH_DGAIN" value="0.4"/> <define name="PITCH_DGAIN" value="0.4"/>
<define name="PITCH_IGAIN" value="-500"/> <define name="PITCH_IGAIN" value="500"/>
<define name="PITCH_KFFA" value="0."/> <define name="PITCH_KFFA" value="0."/>
<define name="PITCH_KFFD" value="0."/> <define name="PITCH_KFFD" value="0."/>
conf/airframes/ENAC/fixed-wing/funjet2_new.xml
+13 -13
View File
@@ -149,7 +149,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
<!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/--> <!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/-->
<!-- outer loop proportional gain --> <!-- 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 --> <!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="3."/> <define name="ALTITUDE_MAX_CLIMB" value="3."/>
@@ -160,14 +160,14 @@
<!--define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/> <!--define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/--> <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/-->
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.02"/> <define name="AUTO_THROTTLE_PGAIN" value="0.02"/>
<define name="AUTO_THROTTLE_IGAIN" value="-0.01"/> <define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
<!-- auto pitch inner loop --> <!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.05"/> <define name="AUTO_PITCH_PGAIN" value="0.05"/>
<define name="AUTO_PITCH_DGAIN" value="-0.0"/> <define name="AUTO_PITCH_DGAIN" value="0.0"/>
<define name="AUTO_PITCH_IGAIN" value="-0.01"/> <define name="AUTO_PITCH_IGAIN" value="0.01"/>
<!--define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/--> <!--define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/-->
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/> <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/> <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -190,20 +190,20 @@
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.7"/> <define name="COURSE_PGAIN" value="0.7"/>
<define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/> <define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/> <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/> <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-9000."/> <define name="ROLL_ATTITUDE_GAIN" value="9000."/>
<define name="ROLL_RATE_GAIN" value="-3000."/> <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_KFFA" value="0"/>
<define name="ROLL_KFFD" value="0"/> <define name="ROLL_KFFD" value="0"/>
<define name="PITCH_PGAIN" value="-20000."/> <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_IGAIN" value="300"/>
<define name="PITCH_KFFA" value="0."/> <define name="PITCH_KFFA" value="0."/>
<define name="PITCH_KFFD" value="0."/> <define name="PITCH_KFFD" value="0."/>
conf/airframes/ENAC/fixed-wing/funjet3.xml
+13 -13
View File
@@ -120,7 +120,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
<!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/--> <!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/-->
<!-- outer loop proportional gain --> <!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.159999996424"/> <!-- -0.024 --> <define name="ALTITUDE_PGAIN" value="0.159999996424"/> <!-- -0.024 -->
<!-- outer loop saturation --> <!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="5."/> <define name="ALTITUDE_MAX_CLIMB" value="5."/>
@@ -133,15 +133,15 @@
<!-- Climb loop (throttle) --> <!-- Climb loop (throttle) -->
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.004"/> <!-- -0.005 --> <define name="AUTO_THROTTLE_PGAIN" value="0.004"/> <!-- -0.005 -->
<define name="AUTO_THROTTLE_DGAIN" value="-0.01"/> <!-- 0.005 --> <define name="AUTO_THROTTLE_DGAIN" value="0.01"/> <!-- 0.005 -->
<define name="AUTO_THROTTLE_IGAIN" value="-0.004"/> <!-- 0.005 --> <define name="AUTO_THROTTLE_IGAIN" value="0.004"/> <!-- 0.005 -->
<!-- Climb loop (pitch) --> <!-- Climb loop (pitch) -->
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
<define name="AUTO_PITCH_PGAIN" value="-0.038"/> <!-- -0.03 --> <define name="AUTO_PITCH_PGAIN" value="0.038"/> <!-- -0.03 -->
<define name="AUTO_PITCH_DGAIN" value="-0.036"/> <!-- -0.03 --> <define name="AUTO_PITCH_DGAIN" value="0.036"/> <!-- -0.03 -->
<define name="AUTO_PITCH_IGAIN" value="-0.0"/> <define name="AUTO_PITCH_IGAIN" value="0.0"/>
<!-- airspeed control --> <!-- airspeed control -->
<define name="AUTO_AIRSPEED_SETPOINT" value="16."/> <define name="AUTO_AIRSPEED_SETPOINT" value="16."/>
@@ -167,20 +167,20 @@
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.699999988079"/> <define name="COURSE_PGAIN" value="0.699999988079"/>
<define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/> <define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/> <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/> <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-6000."/> <define name="ROLL_ATTITUDE_GAIN" value="6000."/>
<define name="ROLL_RATE_GAIN" value="-1000."/> <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_KFFA" value="0"/>
<define name="ROLL_KFFD" value="0"/> <define name="ROLL_KFFD" value="0"/>
<define name="PITCH_PGAIN" value="-20000."/> <define name="PITCH_PGAIN" value="20000."/>
<define name="PITCH_DGAIN" value="0."/> <define name="PITCH_DGAIN" value="0."/>
<define name="PITCH_IGAIN" value="-460."/> <define name="PITCH_IGAIN" value="460."/>
<define name="PITCH_KFFA" value="0."/> <define name="PITCH_KFFA" value="0."/>
<define name="PITCH_KFFD" value="0."/> <define name="PITCH_KFFD" value="0."/>
conf/airframes/ENAC/fixed-wing/merlin.xml
+13 -13
View File
@@ -119,7 +119,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/> <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain --> <!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/> <define name="ALTITUDE_PGAIN" value="0.06"/>
<!-- outer loop saturation --> <!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/> <define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -130,14 +130,14 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/> <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/> <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_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="0.1"/> <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<!-- auto pitch inner loop --> <!-- 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_IGAIN" value="0.0"/>
<define name="AUTO_PITCH_DGAIN" value="-0.0"/> <define name="AUTO_PITCH_DGAIN" value="0.0"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/> <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/> <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -151,20 +151,20 @@
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.0"/> <define name="COURSE_PGAIN" value="1.0"/>
<define name="ROLL_MAX_SETPOINT" value="0.60" unit="rad"/> <define name="ROLL_MAX_SETPOINT" value="0.60" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/> <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/> <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-5900"/> <define name="ROLL_ATTITUDE_GAIN" value="5900"/>
<define name="ROLL_RATE_GAIN" value="-2900"/> <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_KFFA" value="500"/>
<define name="ROLL_KFFD" value="-500"/> <define name="ROLL_KFFD" value="500"/>
<define name="PITCH_PGAIN" value="-9000."/> <define name="PITCH_PGAIN" value="9000."/>
<define name="PITCH_DGAIN" value="1.5"/> <define name="PITCH_DGAIN" value="1.5"/>
<define name="PITCH_IGAIN" value="-500"/> <define name="PITCH_IGAIN" value="500"/>
<define name="PITCH_KFFA" value="0."/> <define name="PITCH_KFFA" value="0."/>
<define name="PITCH_KFFD" value="0."/> <define name="PITCH_KFFD" value="0."/>
conf/airframes/ENAC/fixed-wing/minimag1.xml
+5 -5
View File
@@ -131,7 +131,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/> <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain --> <!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.07"/> <define name="ALTITUDE_PGAIN" value="0.07"/>
<!-- outer loop saturation --> <!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/> <define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -142,12 +142,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/> <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-500"/> <define name="AUTO_THROTTLE_DASH_TRIM" value="-500"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.025"/> <define name="AUTO_THROTTLE_PGAIN" value="0.025"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/> <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<!-- auto pitch inner loop --> <!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.05"/> <define name="AUTO_PITCH_PGAIN" value="0.05"/>
<define name="AUTO_PITCH_IGAIN" value="0.075"/> <define name="AUTO_PITCH_IGAIN" value="0.075"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/> <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/> <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -156,7 +156,7 @@
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.2"/> <define name="COURSE_PGAIN" value="1.2"/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/> <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/> <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/> <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
@@ -164,7 +164,7 @@
<define name="ROLL_PGAIN" value="12000."/> <define name="ROLL_PGAIN" value="12000."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/> <define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-9000."/> <define name="PITCH_PGAIN" value="9000."/>
<define name="PITCH_DGAIN" value="1.5"/> <define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/> <define name="ELEVATOR_OF_ROLL" value="1250"/>
</section> </section>
conf/airframes/ENAC/fixed-wing/obsolete/drops.xml
+9 -9
View File
@@ -132,7 +132,7 @@ on<!DOCTYPE airframe SYSTEM "airframe.dtd">
<!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/--> <!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/-->
<!-- outer loop proportional gain --> <!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/> <define name="ALTITUDE_PGAIN" value="0.06"/>
<!-- outer loop saturation --> <!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/> <define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -143,12 +143,12 @@ on<!DOCTYPE airframe SYSTEM "airframe.dtd">
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/> <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/> <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_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_IGAIN" value="0.101000003517"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<!-- auto pitch inner loop --> <!-- 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_IGAIN" value="0.0"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/> <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/> <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -158,23 +158,23 @@ on<!DOCTYPE airframe SYSTEM "airframe.dtd">
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <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="ROLL_MAX_SETPOINT" value="0.60" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/> <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/> <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_PGAIN" value="6000."/> <define name="ROLL_PGAIN" value="6000."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/> <define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-8898.3046875"/> <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"/> <define name="ELEVATOR_OF_ROLL" value="1520.73706055"/>
<define name="ROLL_ATTITUDE_GAIN" value="-5847.45800781"/> <define name="ROLL_ATTITUDE_GAIN" value="5847.45800781"/>
<define name="ROLL_RATE_GAIN" value="-2923.72900391"/> <define name="ROLL_RATE_GAIN" value="2923.72900391"/>
<define name="ROLL_KFF" value="-500"/> <define name="ROLL_KFF" value="-500"/>
<define name="ROLL_IGAIN" value="-5000"/> <define name="ROLL_IGAIN" value="5000"/>
</section> </section>
<section name="NAV"> <section name="NAV">
conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml
+9 -9
View File
@@ -115,7 +115,7 @@
<!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ --> <!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ -->
<!-- outer loop proportional gain --> <!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.104000002146"/> <define name="ALTITUDE_PGAIN" value="0.104000002146"/>
<!-- outer loop saturation --> <!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="3."/> <define name="ALTITUDE_MAX_CLIMB" value="3."/>
@@ -126,12 +126,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/> <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/> <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.0149999996647"/> <define name="AUTO_THROTTLE_PGAIN" value="0.0149999996647"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/> <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.0460000000894"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.0460000000894"/>
<!-- auto pitch inner loop --> <!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.0209999997169"/> <define name="AUTO_PITCH_PGAIN" value="0.0209999997169"/>
<define name="AUTO_PITCH_IGAIN" value="0.203999996185"/> <define name="AUTO_PITCH_IGAIN" value="0.203999996185"/>
<define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.148000001907"/> <define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.148000001907"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/> <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
@@ -142,23 +142,23 @@
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.20599997044"/> <define name="COURSE_PGAIN" value="1.20599997044"/>
<define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="rad"/> <define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/> <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/> <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-14814.8154297"/> <define name="PITCH_PGAIN" value="14814.8154297"/>
<define name="PITCH_DGAIN" value="1.5"/> <define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="2500"/> <define name="ELEVATOR_OF_ROLL" value="2500"/>
<define name="ROLL_ATTITUDE_GAIN" value="-8055.55615234"/> <define name="ROLL_ATTITUDE_GAIN" value="8055.55615234"/>
<define name="ROLL_RATE_GAIN" value="-1527.7779541"/> <define name="ROLL_RATE_GAIN" value="1527.7779541"/>
<define name="ROLL_KFF" value="-500"/> <define name="ROLL_KFF" value="-500"/>
<define name="ROLL_IGAIN" value="-500"/> <define name="ROLL_IGAIN" value="500"/>
<define name="PITCH_IGAIN" value="-500"/> <define name="PITCH_IGAIN" value="500"/>
</section> </section>
<section name="NAV"> <section name="NAV">
conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml
+7 -7
View File
@@ -113,7 +113,7 @@
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/> <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain --> <!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.04"/> <define name="ALTITUDE_PGAIN" value="0.04"/>
<!-- outer loop saturation --> <!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/> <define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -124,12 +124,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/> <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/> <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.02"/> <define name="AUTO_THROTTLE_PGAIN" value="0.02"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/> <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.37"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.37"/>
<!-- auto pitch inner loop --> <!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.05"/> <define name="AUTO_PITCH_PGAIN" value="0.05"/>
<define name="AUTO_PITCH_IGAIN" value="0.075"/> <define name="AUTO_PITCH_IGAIN" value="0.075"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/> <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/> <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -139,23 +139,23 @@
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1."/> <define name="COURSE_PGAIN" value="1."/>
<define name="ROLL_MAX_SETPOINT" value="0.7" unit="rad"/> <define name="ROLL_MAX_SETPOINT" value="0.7" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/> <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/> <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-50000"/> <define name="PITCH_PGAIN" value="50000"/>
<define name="PITCH_DGAIN" value="0"/> <define name="PITCH_DGAIN" value="0"/>
<define name="ELEVATOR_OF_ROLL" value="2500"/> <define name="ELEVATOR_OF_ROLL" value="2500"/>
<define name="ROLL_ATTITUDE_GAIN" value="-20000"/> <define name="ROLL_ATTITUDE_GAIN" value="20000"/>
<define name="ROLL_RATE_GAIN" value="0"/> <define name="ROLL_RATE_GAIN" value="0"/>
<define name="ROLL_KFFP" value="-500"/> <define name="ROLL_KFFP" value="-500"/>
<define name="ROLL_KFFD" value="0"/> <define name="ROLL_KFFD" value="0"/>
<define name="ROLL_IGAIN" value="-5000"/> <define name="ROLL_IGAIN" value="5000"/>
</section> </section>
<section name="NAV"> <section name="NAV">
conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml
+7 -7
View File
@@ -113,7 +113,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- outer loop proportional gain --> <!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.065"/> <define name="ALTITUDE_PGAIN" value="0.065"/>
<!-- outer loop saturation --> <!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="3."/> <define name="ALTITUDE_MAX_CLIMB" value="3."/>
@@ -124,13 +124,13 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1250"/> <define name="AUTO_THROTTLE_LOITER_TRIM" value="1250"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-2000"/> <define name="AUTO_THROTTLE_DASH_TRIM" value="-2000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/> <define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.15"/> <define name="AUTO_THROTTLE_IGAIN" value="0.15"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.15"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.15"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_DGAIN" value="-1"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_DGAIN" value="-1"/>
<!-- auto pitch inner loop --> <!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.1"/> <define name="AUTO_PITCH_PGAIN" value="0.1"/>
<define name="AUTO_PITCH_IGAIN" value="0.025"/> <define name="AUTO_PITCH_IGAIN" value="0.025"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.5"/> <define name="AUTO_PITCH_MAX_PITCH" value="0.5"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.5"/> <define name="AUTO_PITCH_MIN_PITCH" value="-0.5"/>
@@ -140,21 +140,21 @@
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-2.6"/> <define name="COURSE_PGAIN" value="2.6"/>
<define name="COURSE_DGAIN" value="1"/> <define name="COURSE_DGAIN" value="1"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="1."/> <define name="COURSE_PRE_BANK_CORRECTION" value="1."/>
<define name="ROLL_MAX_SETPOINT" value="0.73" unit="rad"/> <define name="ROLL_MAX_SETPOINT" value="0.73" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/> <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/> <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-9000."/> <define name="PITCH_PGAIN" value="9000."/>
<define name="PITCH_DGAIN" value="0."/> <define name="PITCH_DGAIN" value="0."/>
<define name="ELEVATOR_OF_ROLL" value="1000"/> <define name="ELEVATOR_OF_ROLL" value="1000"/>
<!-- roll rate loop --> <!-- roll rate loop -->
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/> <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/> <define name="ROLL_RATE_GAIN" value="1500"/>
<define name="COURSE_SLEW_INCREMENT" value="RadOfDeg(3)"/> <define name="COURSE_SLEW_INCREMENT" value="RadOfDeg(3)"/>
</section> </section>
conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml
+10 -10
View File
@@ -118,7 +118,7 @@
<!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ --> <!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ -->
<!-- outer loop proportional gain --> <!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.04"/> <define name="ALTITUDE_PGAIN" value="0.04"/>
<!-- outer loop saturation --> <!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/> <define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -129,12 +129,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/> <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-2500"/> <define name="AUTO_THROTTLE_DASH_TRIM" value="-2500"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.02"/> <define name="AUTO_THROTTLE_PGAIN" value="0.02"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/> <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.15"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.15"/>
<!-- auto pitch inner loop --> <!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.05"/> <define name="AUTO_PITCH_PGAIN" value="0.05"/>
<define name="AUTO_PITCH_IGAIN" value="0.075"/> <define name="AUTO_PITCH_IGAIN" value="0.075"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/> <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/> <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -144,29 +144,29 @@
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.885999977589"/> <define name="COURSE_PGAIN" value="0.885999977589"/>
<define name="ROLL_MAX_SETPOINT" value="0.7" unit="rad"/> <define name="ROLL_MAX_SETPOINT" value="0.7" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/> <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/> <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-14255.3193359"/> <define name="PITCH_PGAIN" value="14255.3193359"/>
<define name="PITCH_DGAIN" value="1.5"/> <define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="2000."/> <define name="ELEVATOR_OF_ROLL" value="2000."/>
<define name="ROLL_ATTITUDE_GAIN" value="-12000"/> <define name="ROLL_ATTITUDE_GAIN" value="12000"/>
<define name="ROLL_RATE_GAIN" value="-2500"/> <define name="ROLL_RATE_GAIN" value="2500"/>
<define name="ROLL_KFF" value="-500"/> <define name="ROLL_KFF" value="-500"/>
<define name="ROLL_IGAIN" value="-00"/> <define name="ROLL_IGAIN" value="00"/>
<define name="PITCH_IGAIN" value="-500"/> <define name="PITCH_IGAIN" value="500"/>
</section> </section>
<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/ENAC/fixed-wing/obsolete/spocII.xml
+9 -9
View File
@@ -120,7 +120,7 @@
<!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ --> <!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ -->
<!-- outer loop proportional gain --> <!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.04"/> <define name="ALTITUDE_PGAIN" value="0.04"/>
<!-- outer loop saturation --> <!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/> <define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -131,12 +131,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/> <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/> <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.02"/> <define name="AUTO_THROTTLE_PGAIN" value="0.02"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/> <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
<!-- auto pitch inner loop --> <!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.05"/> <define name="AUTO_PITCH_PGAIN" value="0.05"/>
<define name="AUTO_PITCH_IGAIN" value="0.075"/> <define name="AUTO_PITCH_IGAIN" value="0.075"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/> <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/> <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -146,23 +146,23 @@
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.20599997044"/> <define name="COURSE_PGAIN" value="1.20599997044"/>
<define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="rad"/> <define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/> <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/> <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-7627.11914062"/> <define name="PITCH_PGAIN" value="7627.11914062"/>
<define name="PITCH_DGAIN" value="1.5"/> <define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="2500"/> <define name="ELEVATOR_OF_ROLL" value="2500"/>
<define name="ROLL_ATTITUDE_GAIN" value="-12584.7460938"/> <define name="ROLL_ATTITUDE_GAIN" value="12584.7460938"/>
<define name="ROLL_RATE_GAIN" value="-1779.66101074"/> <define name="ROLL_RATE_GAIN" value="1779.66101074"/>
<define name="ROLL_KFF" value="-500"/> <define name="ROLL_KFF" value="-500"/>
<define name="ROLL_IGAIN" value="-500"/> <define name="ROLL_IGAIN" value="500"/>
<define name="PITCH_IGAIN" value="-500"/> <define name="PITCH_IGAIN" value="500"/>
</section> </section>
<section name="NAV"> <section name="NAV">
conf/airframes/ENAC/fixed-wing/overview.xml
+7 -7
View File
@@ -119,7 +119,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/> <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain --> <!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/> <define name="ALTITUDE_PGAIN" value="0.06"/>
<!-- outer loop saturation --> <!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/> <define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -130,12 +130,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/> <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/> <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_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="0.1"/> <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<!-- auto pitch inner loop --> <!-- 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_IGAIN" value="0.0"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/> <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/> <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -145,15 +145,15 @@
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.0"/> <define name="COURSE_PGAIN" value="1.0"/>
<define name="ROLL_MAX_SETPOINT" value="0.60" unit="rad"/> <define name="ROLL_MAX_SETPOINT" value="0.60" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/> <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/> <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-9000."/> <define name="ROLL_ATTITUDE_GAIN" value="9000."/>
<define name="ROLL_RATE_GAIN" value="-3000."/> <define name="ROLL_RATE_GAIN" value="3000."/>
<define name="PITCH_PGAIN" value="-9000."/> <define name="PITCH_PGAIN" value="9000."/>
<define name="PITCH_DGAIN" value="0.4"/> <define name="PITCH_DGAIN" value="0.4"/>
<define name="AILERON_OF_THROTTLE" value="0.0"/> <define name="AILERON_OF_THROTTLE" value="0.0"/>
conf/airframes/ENAC/fixed-wing/soarzi.xml
+5 -5
View File
@@ -110,7 +110,7 @@
<define name="POWER_CTL_BAT_NOMINAL" value="7.4" unit="volt"/> <define name="POWER_CTL_BAT_NOMINAL" value="7.4" unit="volt"/>
<!-- outer loop proportional gain --> <!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.07"/> <define name="ALTITUDE_PGAIN" value="0.07"/>
<!-- outer loop saturation --> <!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/> <define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -121,12 +121,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/> <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-500"/> <define name="AUTO_THROTTLE_DASH_TRIM" value="-500"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.025"/> <define name="AUTO_THROTTLE_PGAIN" value="0.025"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/> <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<!-- auto pitch inner loop --> <!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.05"/> <define name="AUTO_PITCH_PGAIN" value="0.05"/>
<define name="AUTO_PITCH_IGAIN" value="0.075"/> <define name="AUTO_PITCH_IGAIN" value="0.075"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/> <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/> <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -136,7 +136,7 @@
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.2"/> <define name="COURSE_PGAIN" value="1.2"/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/> <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/> <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/> <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
@@ -144,7 +144,7 @@
<define name="ROLL_PGAIN" value="12000."/> <define name="ROLL_PGAIN" value="12000."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/> <define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-9000."/> <define name="PITCH_PGAIN" value="9000."/>
<define name="PITCH_DGAIN" value="1.5"/> <define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/> <define name="ELEVATOR_OF_ROLL" value="1250"/>
conf/airframes/ENAC/fixed-wing/spocIII-1.xml
+9 -9
View File
@@ -121,7 +121,7 @@
<!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ --> <!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ -->
<!-- outer loop proportional gain --> <!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.04"/> <define name="ALTITUDE_PGAIN" value="0.04"/>
<!-- outer loop saturation --> <!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/> <define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -132,12 +132,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/> <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/> <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.02"/> <define name="AUTO_THROTTLE_PGAIN" value="0.02"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/> <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
<!-- auto pitch inner loop --> <!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.05"/> <define name="AUTO_PITCH_PGAIN" value="0.05"/>
<define name="AUTO_PITCH_IGAIN" value="0.075"/> <define name="AUTO_PITCH_IGAIN" value="0.075"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/> <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/> <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -147,23 +147,23 @@
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.20599997044"/> <define name="COURSE_PGAIN" value="1.20599997044"/>
<define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="rad"/> <define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/> <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/> <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-8200"/> <define name="PITCH_PGAIN" value="8200"/>
<define name="PITCH_DGAIN" value="1.5"/> <define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="2500"/> <define name="ELEVATOR_OF_ROLL" value="2500"/>
<define name="ROLL_ATTITUDE_GAIN" value="-8500"/> <define name="ROLL_ATTITUDE_GAIN" value="8500"/>
<define name="ROLL_RATE_GAIN" value="-2700"/> <define name="ROLL_RATE_GAIN" value="2700"/>
<define name="ROLL_KFF" value="-500"/> <define name="ROLL_KFF" value="-500"/>
<define name="ROLL_IGAIN" value="-500"/> <define name="ROLL_IGAIN" value="500"/>
<define name="PITCH_IGAIN" value="-500"/> <define name="PITCH_IGAIN" value="500"/>
</section> </section>
<section name="NAV"> <section name="NAV">
conf/airframes/ENAC/fixed-wing/spocIII-2.xml
+14 -14
View File
@@ -124,7 +124,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- outer loop proportional gain --> <!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.04"/> <define name="ALTITUDE_PGAIN" value="0.04"/>
<!-- outer loop saturation --> <!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/> <define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -139,15 +139,15 @@
<!-- Climb loop (throttle) --> <!-- Climb loop (throttle) -->
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.08" unit="%/(m/s)"/> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.08" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/> <define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_DGAIN" value="-0.0"/> <define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
<define name="AUTO_THROTTLE_IGAIN" value="-0.001"/> <define name="AUTO_THROTTLE_IGAIN" value="0.001"/>
<!-- Climb loop (pitch) --> <!-- Climb loop (pitch) -->
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.08"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.08"/>
<define name="AUTO_PITCH_PGAIN" value="-0.0"/> <define name="AUTO_PITCH_PGAIN" value="0.0"/>
<define name="AUTO_PITCH_DGAIN" value="-0.0"/> <define name="AUTO_PITCH_DGAIN" value="0.0"/>
<define name="AUTO_PITCH_IGAIN" value="-0.0"/> <define name="AUTO_PITCH_IGAIN" value="0.0"/>
<!-- airspeed control --> <!-- airspeed control -->
<define name="AUTO_AIRSPEED_SETPOINT" value="17."/> <define name="AUTO_AIRSPEED_SETPOINT" value="17."/>
@@ -174,21 +174,21 @@
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.20599997044"/> <define name="COURSE_PGAIN" value="1.20599997044"/>
<define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/> <define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/> <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/> <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-8500."/> <define name="ROLL_ATTITUDE_GAIN" value="8500."/>
<define name="ROLL_RATE_GAIN" value="-2400."/> <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_KFFA" value="0"/>
<define name="ROLL_KFFD" value="0"/> <define name="ROLL_KFFD" value="0"/>
<define name="PITCH_PGAIN" value="-7000."/> <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_IGAIN" value="300."/>
<define name="PITCH_KFFA" value="0."/> <define name="PITCH_KFFA" value="0."/>
<define name="PITCH_KFFD" value="0."/> <define name="PITCH_KFFD" value="0."/>
conf/airframes/ENAC/fixed-wing/spocIII-3.xml
+14 -14
View File
@@ -127,7 +127,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- outer loop proportional gain --> <!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.04"/> <define name="ALTITUDE_PGAIN" value="0.04"/>
<!-- outer loop saturation --> <!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/> <define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -142,15 +142,15 @@
<!-- Climb loop (throttle) --> <!-- Climb loop (throttle) -->
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.08" unit="%/(m/s)"/> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.08" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/> <define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_DGAIN" value="-0.0"/> <define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
<define name="AUTO_THROTTLE_IGAIN" value="-0.001"/> <define name="AUTO_THROTTLE_IGAIN" value="0.001"/>
<!-- Climb loop (pitch) --> <!-- Climb loop (pitch) -->
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.08"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.08"/>
<define name="AUTO_PITCH_PGAIN" value="-0.0"/> <define name="AUTO_PITCH_PGAIN" value="0.0"/>
<define name="AUTO_PITCH_DGAIN" value="-0.0"/> <define name="AUTO_PITCH_DGAIN" value="0.0"/>
<define name="AUTO_PITCH_IGAIN" value="-0.0"/> <define name="AUTO_PITCH_IGAIN" value="0.0"/>
<!-- airspeed control --> <!-- airspeed control -->
<define name="AUTO_AIRSPEED_SETPOINT" value="17."/> <define name="AUTO_AIRSPEED_SETPOINT" value="17."/>
@@ -177,21 +177,21 @@
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.20599997044"/> <define name="COURSE_PGAIN" value="1.20599997044"/>
<define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/> <define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/> <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/> <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-8500."/> <define name="ROLL_ATTITUDE_GAIN" value="8500."/>
<define name="ROLL_RATE_GAIN" value="-2400."/> <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_KFFA" value="0"/>
<define name="ROLL_KFFD" value="0"/> <define name="ROLL_KFFD" value="0"/>
<define name="PITCH_PGAIN" value="-7000."/> <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_IGAIN" value="300."/>
<define name="PITCH_KFFA" value="0."/> <define name="PITCH_KFFA" value="0."/>
<define name="PITCH_KFFD" value="0."/> <define name="PITCH_KFFD" value="0."/>
conf/airframes/ENAC/fixed-wing/twinjet2.xml
+15 -15
View File
@@ -131,7 +131,7 @@
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/> <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain --> <!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.0450000017881"/> <define name="ALTITUDE_PGAIN" value="0.0450000017881"/>
<!-- outer loop saturation --> <!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/> <define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -142,15 +142,15 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/> <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/> <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.035000000149"/> <define name="AUTO_THROTTLE_PGAIN" value="0.035000000149"/>
<define name="AUTO_THROTTLE_IGAIN" value="-0.01"/> <define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_DGAIN" value="-0"/> <define name="AUTO_THROTTLE_DGAIN" value="0"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.12"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.12"/>
<!-- auto pitch inner loop --> <!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.035000000149"/> <define name="AUTO_PITCH_PGAIN" value="0.035000000149"/>
<define name="AUTO_PITCH_IGAIN" value="-0.01"/> <define name="AUTO_PITCH_IGAIN" value="0.01"/>
<define name="AUTO_PITCH_DGAIN" value="-0"/> <define name="AUTO_PITCH_DGAIN" value="0"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/> <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/> <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
<define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.15"/> <define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.15"/>
@@ -164,21 +164,21 @@
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.995000004768"/> <define name="COURSE_PGAIN" value="0.995000004768"/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/> <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/> <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/> <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-3553.89208984"/> <define name="ROLL_ATTITUDE_GAIN" value="3553.89208984"/>
<define name="ROLL_RATE_GAIN" value="0."/> <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_KFFA" value="500"/>
<define name="ROLL_KFFD" value="-500"/> <define name="ROLL_KFFD" value="500"/>
<define name="PITCH_PGAIN" value="-14522.4716797"/> <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_IGAIN" value="500"/>
<define name="PITCH_KFFA" value="0."/> <define name="PITCH_KFFA" value="0."/>
<define name="PITCH_KFFD" value="0."/> <define name="PITCH_KFFD" value="0."/>
conf/airframes/ENAC/fixed-wing/weasel.xml
+13 -13
View File
@@ -144,7 +144,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
<!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/--> <!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/-->
<!-- outer loop proportional gain --> <!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.159999996424"/> <!-- -0.024 --> <define name="ALTITUDE_PGAIN" value="0.159999996424"/> <!-- -0.024 -->
<!-- outer loop saturation --> <!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="5."/> <define name="ALTITUDE_MAX_CLIMB" value="5."/>
@@ -157,15 +157,15 @@
<!-- Climb loop (throttle) --> <!-- Climb loop (throttle) -->
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.004"/> <!-- -0.005 --> <define name="AUTO_THROTTLE_PGAIN" value="0.004"/> <!-- -0.005 -->
<define name="AUTO_THROTTLE_DGAIN" value="-0.01"/> <!-- 0.005 --> <define name="AUTO_THROTTLE_DGAIN" value="0.01"/> <!-- 0.005 -->
<define name="AUTO_THROTTLE_IGAIN" value="-0.004"/> <!-- 0.005 --> <define name="AUTO_THROTTLE_IGAIN" value="0.004"/> <!-- 0.005 -->
<!-- Climb loop (pitch) --> <!-- Climb loop (pitch) -->
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
<define name="AUTO_PITCH_PGAIN" value="-0.038"/> <!-- -0.03 --> <define name="AUTO_PITCH_PGAIN" value="0.038"/> <!-- -0.03 -->
<define name="AUTO_PITCH_DGAIN" value="-0.036"/> <!-- -0.03 --> <define name="AUTO_PITCH_DGAIN" value="0.036"/> <!-- -0.03 -->
<define name="AUTO_PITCH_IGAIN" value="-0.0"/> <define name="AUTO_PITCH_IGAIN" value="0.0"/>
<!-- airspeed control --> <!-- airspeed control -->
<define name="AUTO_AIRSPEED_SETPOINT" value="16."/> <define name="AUTO_AIRSPEED_SETPOINT" value="16."/>
@@ -191,20 +191,20 @@
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.7"/> <define name="COURSE_PGAIN" value="0.7"/>
<define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/> <define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/> <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/> <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-3800."/> <define name="ROLL_ATTITUDE_GAIN" value="3800."/>
<define name="ROLL_RATE_GAIN" value="-500."/> <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_KFFA" value="0"/>
<define name="ROLL_KFFD" value="0"/> <define name="ROLL_KFFD" value="0"/>
<define name="PITCH_PGAIN" value="-10000."/> <define name="PITCH_PGAIN" value="10000."/>
<define name="PITCH_DGAIN" value="0."/> <define name="PITCH_DGAIN" value="0."/>
<define name="PITCH_IGAIN" value="-250."/> <define name="PITCH_IGAIN" value="250."/>
<define name="PITCH_KFFA" value="0."/> <define name="PITCH_KFFA" value="0."/>
<define name="PITCH_KFFD" value="0."/> <define name="PITCH_KFFD" value="0."/>
conf/airframes/ENAC/quadrotor/blender.xml
+18 -18
View File
@@ -142,9 +142,9 @@
<define name="SP_MAX_Q" value="10000"/> <define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/> <define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/> <define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="-400"/> <define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="-350"/> <define name="GAIN_R" value="350"/>
</section> </section>
@@ -173,17 +173,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/> <define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback --> <!-- feedback -->
<define name="PHI_PGAIN" value="-400"/> <define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="-160"/> <define name="PHI_DGAIN" value="160"/>
<define name="PHI_IGAIN" value="-40"/> <define name="PHI_IGAIN" value="40"/>
<define name="THETA_PGAIN" value="-400"/> <define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="-160"/> <define name="THETA_DGAIN" value="160"/>
<define name="THETA_IGAIN" value="-40"/> <define name="THETA_IGAIN" value="40"/>
<define name="PSI_PGAIN" value="-1000"/> <define name="PSI_PGAIN" value="1000"/>
<define name="PSI_DGAIN" value="-350"/> <define name="PSI_DGAIN" value="350"/>
<define name="PSI_IGAIN" value="-10"/> <define name="PSI_IGAIN" value="10"/>
<!-- feedforward --> <!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/> <define name="PHI_DDGAIN" value=" 300"/>
@@ -208,8 +208,8 @@
<define name="REF_MAX_ZDD" value=" 0.8*9.81"/> <define name="REF_MAX_ZDD" value=" 0.8*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/> <define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1.5"/> <define name="REF_MAX_ZD" value=" 1.5"/>
<define name="HOVER_KP" value="-400"/> <define name="HOVER_KP" value="400"/>
<define name="HOVER_KD" value="-200"/> <define name="HOVER_KD" value="200"/>
<define name="HOVER_KI" value="0"/> <define name="HOVER_KI" value="0"/>
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) --> <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/> <define name="RC_CLIMB_COEF" value ="163"/>
@@ -218,10 +218,10 @@
</section> </section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-140"/> <define name="PGAIN" value="140"/>
<define name="DGAIN" value="-90"/> <define name="DGAIN" value="90"/>
<define name="IGAIN" value="-30"/> <define name="IGAIN" value="30"/>
<define name="NGAIN" value="-0"/> <define name="NGAIN" value="0"/>
<!-- feedforward --> <!-- feedforward -->
<define name="AGAIN" value="100"/> <define name="AGAIN" value="100"/>
</section> </section>
conf/airframes/ENAC/quadrotor/booz2_g1.xml
+18 -18
View File
@@ -105,9 +105,9 @@
<define name="SP_MAX_Q" value="10000"/> <define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/> <define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/> <define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="-400"/> <define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="-350"/> <define name="GAIN_R" value="350"/>
</section> </section>
@@ -136,17 +136,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/> <define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback --> <!-- feedback -->
<define name="PHI_PGAIN" value="-2000"/> <define name="PHI_PGAIN" value="2000"/>
<define name="PHI_DGAIN" value="-400"/> <define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="-200"/> <define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-2000"/> <define name="THETA_PGAIN" value="2000"/>
<define name="THETA_DGAIN" value="-400"/> <define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="-200"/> <define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-2000"/> <define name="PSI_PGAIN" value="2000"/>
<define name="PSI_DGAIN" value="-400"/> <define name="PSI_DGAIN" value="400"/>
<define name="PSI_IGAIN" value="-10"/> <define name="PSI_IGAIN" value="10"/>
<!-- feedforward --> <!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/> <define name="PHI_DDGAIN" value=" 300"/>
@@ -170,8 +170,8 @@
<define name="REF_MAX_ZDD" value=" 0.5*9.81"/> <define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/> <define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1.5"/> <define name="REF_MAX_ZD" value=" 1.5"/>
<define name="HOVER_KP" value="-150"/> <define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="-80"/> <define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="0"/> <define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) --> <!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/> <define name="RC_CLIMB_COEF" value ="163"/>
@@ -182,10 +182,10 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-50"/> <define name="PGAIN" value="50"/>
<define name="DGAIN" value="-100"/> <define name="DGAIN" value="100"/>
<define name="IGAIN" value="-15"/> <define name="IGAIN" value="15"/>
<define name="NGAIN" value="-0"/> <define name="NGAIN" value="0"/>
<!-- feedforward --> <!-- feedforward -->
<define name="AGAIN" value="100"/> <define name="AGAIN" value="100"/>
</section> </section>
conf/airframes/ENAC/quadrotor/g1_vision.xml
+18 -18
View File
@@ -79,9 +79,9 @@
<define name="SP_MAX_Q" value="10000"/> <define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/> <define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/> <define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="-400"/> <define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="-350"/> <define name="GAIN_R" value="350"/>
</section> </section>
@@ -110,17 +110,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/> <define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback --> <!-- feedback -->
<define name="PHI_PGAIN" value="-2000"/> <define name="PHI_PGAIN" value="2000"/>
<define name="PHI_DGAIN" value="-400"/> <define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="-200"/> <define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-2000"/> <define name="THETA_PGAIN" value="2000"/>
<define name="THETA_DGAIN" value="-400"/> <define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="-200"/> <define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-1000"/> <define name="PSI_PGAIN" value="1000"/>
<define name="PSI_DGAIN" value="-350"/> <define name="PSI_DGAIN" value="350"/>
<define name="PSI_IGAIN" value="-10"/> <define name="PSI_IGAIN" value="10"/>
<!-- feedforward --> <!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/> <define name="PHI_DDGAIN" value=" 300"/>
@@ -152,8 +152,8 @@
<define name="REF_MAX_ZDD" value=" 0.5*9.81"/> <define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/> <define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1.5"/> <define name="REF_MAX_ZD" value=" 1.5"/>
<define name="HOVER_KP" value="-150"/> <define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="-80"/> <define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="0"/> <define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) --> <!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/> <define name="RC_CLIMB_COEF" value ="163"/>
@@ -164,10 +164,10 @@
<section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
<define name="PGAIN" value="-50"/> <define name="PGAIN" value="50"/>
<define name="DGAIN" value="-60"/> <define name="DGAIN" value="60"/>
<define name="IGAIN" value="-0"/> <define name="IGAIN" value="0"/>
<define name="NGAIN" value="-0"/> <define name="NGAIN" value="0"/>
<!-- feedforward --> <!-- feedforward -->
<define name="AGAIN" value="50"/> <define name="AGAIN" value="50"/>
</section> </section>
conf/airframes/ENAC/quadrotor/mkk1-vision.xml
+21 -21
View File
@@ -99,9 +99,9 @@
<define name="SP_MAX_Q" value="10000"/> <define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/> <define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/> <define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="-400"/> <define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="-350"/> <define name="GAIN_R" value="350"/>
</section> </section>
@@ -111,9 +111,9 @@
<define name="SP_MAX_Q" value="10000"/> <define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/> <define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/> <define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="-400"/> <define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="-350"/> <define name="GAIN_R" value="350"/>
</section> </section>
@@ -143,17 +143,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/> <define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback --> <!-- feedback -->
<define name="PHI_PGAIN" value="-650"/> <define name="PHI_PGAIN" value="650"/>
<define name="PHI_DGAIN" value="-200"/> <define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="-100"/> <define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-650"/> <define name="THETA_PGAIN" value="650"/>
<define name="THETA_DGAIN" value="-200"/> <define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="-100"/> <define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-800"/> <define name="PSI_PGAIN" value="800"/>
<define name="PSI_DGAIN" value="-320"/> <define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="-20"/> <define name="PSI_IGAIN" value="20"/>
<!-- feedforward --> <!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/> <define name="PHI_DDGAIN" value=" 300"/>
@@ -186,8 +186,8 @@
<define name="REF_MAX_ZDD" value=" 0.5*9.81"/> <define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/> <define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1.5"/> <define name="REF_MAX_ZD" value=" 1.5"/>
<define name="HOVER_KP" value="-200"/> <define name="HOVER_KP" value="200"/>
<define name="HOVER_KD" value="-100"/> <define name="HOVER_KD" value="100"/>
<define name="HOVER_KI" value="0"/> <define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) --> <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/> <define name="RC_CLIMB_COEF" value ="163"/>
@@ -197,10 +197,10 @@
<section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
<define name="PGAIN" value="-250"/> <define name="PGAIN" value="250"/>
<define name="DGAIN" value="-150"/> <define name="DGAIN" value="150"/>
<define name="IGAIN" value="-35"/> <define name="IGAIN" value="35"/>
<define name="NGAIN" value="-0"/> <define name="NGAIN" value="0"/>
<!-- feedforward --> <!-- feedforward -->
<define name="AGAIN" value="100"/> <define name="AGAIN" value="100"/>
</section> </section>
conf/airframes/ENAC/quadrotor/mkk1.xml
+21 -21
View File
@@ -129,9 +129,9 @@
<define name="SP_MAX_Q" value="10000"/> <define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/> <define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/> <define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="-400"/> <define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="-350"/> <define name="GAIN_R" value="350"/>
</section> </section>
@@ -141,9 +141,9 @@
<define name="SP_MAX_Q" value="10000"/> <define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/> <define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/> <define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="-400"/> <define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="-350"/> <define name="GAIN_R" value="350"/>
</section> </section>
@@ -173,17 +173,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/> <define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback --> <!-- feedback -->
<define name="PHI_PGAIN" value="-650"/> <define name="PHI_PGAIN" value="650"/>
<define name="PHI_DGAIN" value="-200"/> <define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="-100"/> <define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-650"/> <define name="THETA_PGAIN" value="650"/>
<define name="THETA_DGAIN" value="-200"/> <define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="-100"/> <define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-800"/> <define name="PSI_PGAIN" value="800"/>
<define name="PSI_DGAIN" value="-320"/> <define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="-20"/> <define name="PSI_IGAIN" value="20"/>
<!-- feedforward --> <!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/> <define name="PHI_DDGAIN" value=" 300"/>
@@ -206,8 +206,8 @@
<define name="REF_MAX_ZDD" value=" 0.5*9.81"/> <define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/> <define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1.5"/> <define name="REF_MAX_ZD" value=" 1.5"/>
<define name="HOVER_KP" value="-200"/> <define name="HOVER_KP" value="200"/>
<define name="HOVER_KD" value="-100"/> <define name="HOVER_KD" value="100"/>
<define name="HOVER_KI" value="0"/> <define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) --> <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/> <define name="RC_CLIMB_COEF" value ="163"/>
@@ -217,10 +217,10 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-60"/> <define name="PGAIN" value="60"/>
<define name="DGAIN" value="-120"/> <define name="DGAIN" value="120"/>
<define name="IGAIN" value="-10"/> <define name="IGAIN" value="10"/>
<define name="NGAIN" value="-0"/> <define name="NGAIN" value="0"/>
<!-- feedforward --> <!-- feedforward -->
<define name="AGAIN" value="100"/> <define name="AGAIN" value="100"/>
</section> </section>
conf/airframes/ENAC/quadrotor/navgo.xml
+18 -18
View File
@@ -158,9 +158,9 @@
<define name="SP_MAX_Q" value="10000"/> <define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/> <define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/> <define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="-400"/> <define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="-350"/> <define name="GAIN_R" value="350"/>
</section> </section>
@@ -189,17 +189,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/> <define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback --> <!-- feedback -->
<define name="PHI_PGAIN" value="-350"/> <define name="PHI_PGAIN" value="350"/>
<define name="PHI_DGAIN" value="-190"/> <define name="PHI_DGAIN" value="190"/>
<define name="PHI_IGAIN" value="-100"/> <define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-350"/> <define name="THETA_PGAIN" value="350"/>
<define name="THETA_DGAIN" value="-190"/> <define name="THETA_DGAIN" value="190"/>
<define name="THETA_IGAIN" value="-100"/> <define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-700"/> <define name="PSI_PGAIN" value="700"/>
<define name="PSI_DGAIN" value="-250"/> <define name="PSI_DGAIN" value="250"/>
<define name="PSI_IGAIN" value="-20"/> <define name="PSI_IGAIN" value="20"/>
<!-- feedforward --> <!-- feedforward -->
<define name="PHI_DDGAIN" value=" 70"/> <define name="PHI_DDGAIN" value=" 70"/>
@@ -219,8 +219,8 @@
<define name="REF_MAX_ZDD" value=" 0.8*9.81"/> <define name="REF_MAX_ZDD" value=" 0.8*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/> <define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1.5"/> <define name="REF_MAX_ZD" value=" 1.5"/>
<define name="HOVER_KP" value="-500"/> <define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="-250"/> <define name="HOVER_KD" value="250"/>
<define name="HOVER_KI" value="0"/> <define name="HOVER_KI" value="0"/>
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) --> <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/> <define name="RC_CLIMB_COEF" value ="163"/>
@@ -229,10 +229,10 @@
</section> </section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-140"/> <define name="PGAIN" value="140"/>
<define name="DGAIN" value="-90"/> <define name="DGAIN" value="90"/>
<define name="IGAIN" value="-30"/> <define name="IGAIN" value="30"/>
<define name="NGAIN" value="-0"/> <define name="NGAIN" value="0"/>
<!-- feedforward --> <!-- feedforward -->
<define name="AGAIN" value="100"/> <define name="AGAIN" value="100"/>
</section> </section>
conf/airframes/ENAC/quadrotor/nova1.xml
+21 -21
View File
@@ -100,9 +100,9 @@
<define name="SP_MAX_Q" value="10000"/> <define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/> <define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/> <define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="-400"/> <define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="-350"/> <define name="GAIN_R" value="350"/>
</section> </section>
@@ -112,9 +112,9 @@
<define name="SP_MAX_Q" value="10000"/> <define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/> <define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/> <define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="-400"/> <define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="-350"/> <define name="GAIN_R" value="350"/>
</section> </section>
@@ -144,17 +144,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/> <define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback --> <!-- feedback -->
<define name="PHI_PGAIN" value="-650"/> <define name="PHI_PGAIN" value="650"/>
<define name="PHI_DGAIN" value="-200"/> <define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="-100"/> <define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-650"/> <define name="THETA_PGAIN" value="650"/>
<define name="THETA_DGAIN" value="-200"/> <define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="-100"/> <define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-800"/> <define name="PSI_PGAIN" value="800"/>
<define name="PSI_DGAIN" value="-320"/> <define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="-20"/> <define name="PSI_IGAIN" value="20"/>
<!-- feedforward --> <!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/> <define name="PHI_DDGAIN" value=" 300"/>
@@ -177,8 +177,8 @@
<define name="REF_MAX_ZDD" value=" 0.5*9.81"/> <define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/> <define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1.5"/> <define name="REF_MAX_ZD" value=" 1.5"/>
<define name="HOVER_KP" value="-200"/> <define name="HOVER_KP" value="200"/>
<define name="HOVER_KD" value="-100"/> <define name="HOVER_KD" value="100"/>
<define name="HOVER_KI" value="0"/> <define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) --> <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/> <define name="RC_CLIMB_COEF" value ="163"/>
@@ -188,10 +188,10 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-60"/> <define name="PGAIN" value="60"/>
<define name="DGAIN" value="-120"/> <define name="DGAIN" value="120"/>
<define name="IGAIN" value="-10"/> <define name="IGAIN" value="10"/>
<define name="NGAIN" value="-0"/> <define name="NGAIN" value="0"/>
<!-- feedforward --> <!-- feedforward -->
<define name="AGAIN" value="100"/> <define name="AGAIN" value="100"/>
</section> </section>
conf/airframes/LAAS/mmlaas_N1.xml
+7 -7
View File
@@ -140,7 +140,7 @@
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/> <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain --> <!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.15"/> <define name="ALTITUDE_PGAIN" value="0.15"/>
<!-- outer loop saturation --> <!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/> <define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -151,12 +151,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/> <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-2000"/> <define name="AUTO_THROTTLE_DASH_TRIM" value="-2000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.05"/> <define name="AUTO_THROTTLE_PGAIN" value="0.05"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/> <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<!-- auto pitch inner loop --> <!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.065"/> <define name="AUTO_PITCH_PGAIN" value="0.065"/>
<define name="AUTO_PITCH_IGAIN" value="0.15"/> <define name="AUTO_PITCH_IGAIN" value="0.15"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/> <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/> <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -166,15 +166,15 @@
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1."/> <define name="COURSE_PGAIN" value="1."/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/> <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/> <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/> <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-10000"/> <define name="ROLL_ATTITUDE_GAIN" value="10000"/>
<define name="AILERON_OF_THROTTLE" value="0.0"/> <define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-12000."/> <define name="PITCH_PGAIN" value="12000."/>
<define name="PITCH_DGAIN" value="1.5"/> <define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/> <define name="ELEVATOR_OF_ROLL" value="1250"/>
</section> </section>
@@ -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
+7 -7
View File
@@ -136,7 +136,7 @@
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/> <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain --> <!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.15"/> <define name="ALTITUDE_PGAIN" value="0.15"/>
<!-- outer loop saturation --> <!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/> <define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -147,12 +147,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/> <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-2000"/> <define name="AUTO_THROTTLE_DASH_TRIM" value="-2000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.05"/> <define name="AUTO_THROTTLE_PGAIN" value="0.05"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/> <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<!-- auto pitch inner loop --> <!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.065"/> <define name="AUTO_PITCH_PGAIN" value="0.065"/>
<define name="AUTO_PITCH_IGAIN" value="0.15"/> <define name="AUTO_PITCH_IGAIN" value="0.15"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/> <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/> <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -162,15 +162,15 @@
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1."/> <define name="COURSE_PGAIN" value="1."/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/> <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/> <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/> <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-10000"/> <define name="ROLL_ATTITUDE_GAIN" value="10000"/>
<define name="AILERON_OF_THROTTLE" value="0.0"/> <define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-12000."/> <define name="PITCH_PGAIN" value="12000."/>
<define name="PITCH_DGAIN" value="1.5"/> <define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/> <define name="ELEVATOR_OF_ROLL" value="1250"/>
</section> </section>
@@ -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
+7 -7
View File
@@ -136,7 +136,7 @@
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/> <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain --> <!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.15"/> <define name="ALTITUDE_PGAIN" value="0.15"/>
<!-- outer loop saturation --> <!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/> <define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -147,12 +147,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/> <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-2000"/> <define name="AUTO_THROTTLE_DASH_TRIM" value="-2000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.05"/> <define name="AUTO_THROTTLE_PGAIN" value="0.05"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/> <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<!-- auto pitch inner loop --> <!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.065"/> <define name="AUTO_PITCH_PGAIN" value="0.065"/>
<define name="AUTO_PITCH_IGAIN" value="0.15"/> <define name="AUTO_PITCH_IGAIN" value="0.15"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/> <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/> <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -162,15 +162,15 @@
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1."/> <define name="COURSE_PGAIN" value="1."/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/> <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/> <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/> <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="-10000"/> <define name="ROLL_ATTITUDE_GAIN" value="10000"/>
<define name="AILERON_OF_THROTTLE" value="0.0"/> <define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-12000."/> <define name="PITCH_PGAIN" value="12000."/>
<define name="PITCH_DGAIN" value="1.5"/> <define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/> <define name="ELEVATOR_OF_ROLL" value="1250"/>
</section> </section>
@@ -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/NoVa_L.xml
+29 -29
View File
@@ -112,9 +112,9 @@
<define name="SP_MAX_Q" value="10000"/> <define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/> <define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/> <define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="-400"/> <define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="-350"/> <define name="GAIN_R" value="350"/>
</section> </section>
@@ -143,17 +143,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/> <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- gaui props <!-- gaui props
<define name="PHI_PGAIN" value="-900"/> <define name="PHI_PGAIN" value="900"/>
<define name="PHI_DGAIN" value="-200"/> <define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="-200"/> <define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-900"/> <define name="THETA_PGAIN" value="900"/>
<define name="THETA_DGAIN" value="-200"/> <define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="-200"/> <define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-900"/> <define name="PSI_PGAIN" value="900"/>
<define name="PSI_DGAIN" value="-200"/> <define name="PSI_DGAIN" value="200"/>
<define name="PSI_IGAIN" value="-10"/> <define name="PSI_IGAIN" value="10"/>
<define name="PHI_DDGAIN" value=" 200"/> <define name="PHI_DDGAIN" value=" 200"/>
<define name="THETA_DDGAIN" value=" 200"/> <define name="THETA_DDGAIN" value=" 200"/>
@@ -161,17 +161,17 @@
--> -->
<!-- feedback --> <!-- feedback -->
<define name="PHI_PGAIN" value="-2000"/> <define name="PHI_PGAIN" value="2000"/>
<define name="PHI_DGAIN" value="-400"/> <define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="-200"/> <define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-2000"/> <define name="THETA_PGAIN" value="2000"/>
<define name="THETA_DGAIN" value="-400"/> <define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="-200"/> <define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-2000"/> <define name="PSI_PGAIN" value="2000"/>
<define name="PSI_DGAIN" value="-400"/> <define name="PSI_DGAIN" value="400"/>
<define name="PSI_IGAIN" value="-10"/> <define name="PSI_IGAIN" value="10"/>
<!-- feedforward --> <!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/> <define name="PHI_DDGAIN" value=" 300"/>
@@ -200,12 +200,12 @@
<define name="MAX_SUM_ERR" value="2000000"/> <define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="-500"/> <define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="-200"/> <define name="HOVER_KD" value="200"/>
<define name="HOVER_KI" value="0"/> <define name="HOVER_KI" value="0"/>
<!-- <!--
<define name="HOVER_KP" value="-150"/> <define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="-80"/> <define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="0"/> <define name="HOVER_KI" value="0"/>
--> -->
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) --> <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
@@ -217,10 +217,10 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-50"/> <define name="PGAIN" value="50"/>
<define name="DGAIN" value="-100"/> <define name="DGAIN" value="100"/>
<define name="IGAIN" value="-15"/> <define name="IGAIN" value="15"/>
<define name="NGAIN" value="-0"/> <define name="NGAIN" value="0"/>
</section> </section>
<section name="MISC"> <section name="MISC">
conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
+5 -5
View File
@@ -127,7 +127,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/> <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain --> <!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.03"/> <define name="ALTITUDE_PGAIN" value="0.03"/>
<!-- outer loop saturation --> <!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/> <define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -138,7 +138,7 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/> <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/> <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/> <define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/> <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
@@ -146,7 +146,7 @@
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.20000004768"/> <define name="COURSE_PGAIN" value="1.20000004768"/>
<define name="COURSE_DGAIN" value="0.3"/> <define name="COURSE_DGAIN" value="0.3"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/> <define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
@@ -154,14 +154,14 @@
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/> <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/> <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-12000."/> <define name="PITCH_PGAIN" value="12000."/>
<define name="PITCH_DGAIN" value="1.5"/> <define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1000."/> <define name="ELEVATOR_OF_ROLL" value="1000."/>
<define name="ROLL_SLEW" value="1."/> <define name="ROLL_SLEW" value="1."/>
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/> <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="0."/> <define name="ROLL_RATE_GAIN" value="0."/>
</section> </section>
conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
+27 -27
View File
@@ -76,9 +76,9 @@
<define name="SP_MAX_Q" value="10000"/> <define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/> <define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/> <define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="-400"/> <define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="-350"/> <define name="GAIN_R" value="350"/>
</section> </section>
@@ -108,30 +108,30 @@
<!-- feedback gains for better endurance --> <!-- feedback gains for better endurance -->
<!-- <!--
<define name="PHI_PGAIN" value="-400"/> <define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="-300"/> <define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="-100"/> <define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-400"/> <define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="-300"/> <define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="-100"/> <define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-380"/> <define name="PSI_PGAIN" value="380"/>
<define name="PSI_DGAIN" value="-320"/> <define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="-75"/> <define name="PSI_IGAIN" value="75"/>
--> -->
<!-- feedback gains for better performance --> <!-- feedback gains for better performance -->
<define name="PHI_PGAIN" value="-2000"/> <define name="PHI_PGAIN" value="2000"/>
<define name="PHI_DGAIN" value="-400"/> <define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="-200"/> <define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-2000"/> <define name="THETA_PGAIN" value="2000"/>
<define name="THETA_DGAIN" value="-400"/> <define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="-200"/> <define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-1000"/> <define name="PSI_PGAIN" value="1000"/>
<define name="PSI_DGAIN" value="-350"/> <define name="PSI_DGAIN" value="350"/>
<define name="PSI_IGAIN" value="-10"/> <define name="PSI_IGAIN" value="10"/>
<!-- feedforward --> <!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/> <define name="PHI_DDGAIN" value=" 300"/>
@@ -160,9 +160,9 @@
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/> <define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/> <define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="MAX_SUM_ERR" value="2000000"/> <define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="-500"/> <define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="-250"/> <define name="HOVER_KD" value="250"/>
<define name="HOVER_KI" value="-100"/> <define name="HOVER_KI" value="100"/>
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) --> <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/> <define name="RC_CLIMB_COEF" value ="163"/>
<!-- SPEED_BFP_OF_REAL(1.5) * 20% --> <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
@@ -171,9 +171,9 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/> <define name="PGAIN" value="100"/>
<define name="DGAIN" value="-100"/> <define name="DGAIN" value="100"/>
<define name="IGAIN" value="-0"/> <define name="IGAIN" value="0"/>
</section> </section>
conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
+27 -27
View File
@@ -76,9 +76,9 @@
<define name="SP_MAX_Q" value="10000"/> <define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/> <define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/> <define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="-400"/> <define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="-350"/> <define name="GAIN_R" value="350"/>
</section> </section>
@@ -109,31 +109,31 @@
<!-- feedback gains for better endurance --> <!-- feedback gains for better endurance -->
<!-- <!--
<define name="PHI_PGAIN" value="-400"/> <define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="-300"/> <define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="-100"/> <define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-400"/> <define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="-300"/> <define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="-100"/> <define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-380"/> <define name="PSI_PGAIN" value="380"/>
<define name="PSI_DGAIN" value="-320"/> <define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="-75"/> <define name="PSI_IGAIN" value="75"/>
--> -->
<!-- feedback gains for better performance --> <!-- feedback gains for better performance -->
<define name="PHI_PGAIN" value="-2000"/> <define name="PHI_PGAIN" value="2000"/>
<define name="PHI_DGAIN" value="-400"/> <define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="-200"/> <define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-2000"/> <define name="THETA_PGAIN" value="2000"/>
<define name="THETA_DGAIN" value="-400"/> <define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="-200"/> <define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-1000"/> <define name="PSI_PGAIN" value="1000"/>
<define name="PSI_DGAIN" value="-350"/> <define name="PSI_DGAIN" value="350"/>
<define name="PSI_IGAIN" value="-10"/> <define name="PSI_IGAIN" value="10"/>
<!-- feedforward --> <!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/> <define name="PHI_DDGAIN" value=" 300"/>
@@ -178,9 +178,9 @@
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/> <define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/> <define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="MAX_SUM_ERR" value="2000000"/> <define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="-500"/> <define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="-250"/> <define name="HOVER_KD" value="250"/>
<define name="HOVER_KI" value="-100"/> <define name="HOVER_KI" value="100"/>
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) --> <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/> <define name="RC_CLIMB_COEF" value ="163"/>
<!-- SPEED_BFP_OF_REAL(1.5) * 20% --> <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
@@ -189,9 +189,9 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/> <define name="PGAIN" value="100"/>
<define name="DGAIN" value="-100"/> <define name="DGAIN" value="100"/>
<define name="IGAIN" value="-0"/> <define name="IGAIN" value="0"/>
</section> </section>
conf/airframes/Poine/booz2_a1.xml
+18 -18
View File
@@ -90,9 +90,9 @@
<define name="SP_MAX_Q" value="10000"/> <define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/> <define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/> <define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="-400"/> <define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="-350"/> <define name="GAIN_R" value="350"/>
</section> </section>
@@ -122,17 +122,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/> <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback --> <!-- feedback -->
<define name="PHI_PGAIN" value="-400"/> <define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="-300"/> <define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="-100"/> <define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-400"/> <define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="-300"/> <define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="-100"/> <define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-380"/> <define name="PSI_PGAIN" value="380"/>
<define name="PSI_DGAIN" value="-320"/> <define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="-75"/> <define name="PSI_IGAIN" value="75"/>
<!-- feedforward --> <!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/> <define name="PHI_DDGAIN" value=" 300"/>
@@ -151,9 +151,9 @@
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/> <define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/> <define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="MAX_SUM_ERR" value="2000000"/> <define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="-500"/> <define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="-200"/> <define name="HOVER_KD" value="200"/>
<define name="HOVER_KI" value="-100"/> <define name="HOVER_KI" value="100"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) --> <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/> <define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% --> <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
@@ -163,9 +163,9 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/> <define name="PGAIN" value="100"/>
<define name="DGAIN" value="-100"/> <define name="DGAIN" value="100"/>
<define name="IGAIN" value="-0"/> <define name="IGAIN" value="0"/>
</section> </section>
<section name="BAT"> <section name="BAT">
conf/airframes/Poine/booz2_a1p.xml
+18 -18
View File
@@ -88,9 +88,9 @@
<define name="SP_MAX_Q" value="10000"/> <define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/> <define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/> <define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="-400"/> <define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="-350"/> <define name="GAIN_R" value="350"/>
</section> </section>
@@ -120,17 +120,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/> <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback --> <!-- feedback -->
<define name="PHI_PGAIN" value="-400"/> <define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="-300"/> <define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="-100"/> <define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-400"/> <define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="-300"/> <define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="-100"/> <define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-380"/> <define name="PSI_PGAIN" value="380"/>
<define name="PSI_DGAIN" value="-320"/> <define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="-75"/> <define name="PSI_IGAIN" value="75"/>
<!-- feedforward --> <!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/> <define name="PHI_DDGAIN" value=" 300"/>
@@ -155,9 +155,9 @@
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/> <define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/> <define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="MAX_SUM_ERR" value="2000000"/> <define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="-500"/> <define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="-200"/> <define name="HOVER_KD" value="200"/>
<define name="HOVER_KI" value="-100"/> <define name="HOVER_KI" value="100"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) --> <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/> <define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% --> <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
@@ -167,9 +167,9 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/> <define name="PGAIN" value="100"/>
<define name="DGAIN" value="-100"/> <define name="DGAIN" value="100"/>
<define name="IGAIN" value="-0"/> <define name="IGAIN" value="0"/>
</section> </section>
<section name="BAT"> <section name="BAT">
conf/airframes/Poine/booz2_a7.xml
+29 -29
View File
@@ -84,9 +84,9 @@
<define name="SP_MAX_Q" value="10000"/> <define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/> <define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/> <define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="-400"/> <define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="-350"/> <define name="GAIN_R" value="350"/>
</section> </section>
@@ -115,17 +115,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/> <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- gaui props <!-- gaui props
<define name="PHI_PGAIN" value="-900"/> <define name="PHI_PGAIN" value="900"/>
<define name="PHI_DGAIN" value="-200"/> <define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="-200"/> <define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-900"/> <define name="THETA_PGAIN" value="900"/>
<define name="THETA_DGAIN" value="-200"/> <define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="-200"/> <define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-900"/> <define name="PSI_PGAIN" value="900"/>
<define name="PSI_DGAIN" value="-200"/> <define name="PSI_DGAIN" value="200"/>
<define name="PSI_IGAIN" value="-10"/> <define name="PSI_IGAIN" value="10"/>
<define name="PHI_DDGAIN" value=" 200"/> <define name="PHI_DDGAIN" value=" 200"/>
<define name="THETA_DDGAIN" value=" 200"/> <define name="THETA_DDGAIN" value=" 200"/>
@@ -133,17 +133,17 @@
--> -->
<!-- feedback --> <!-- feedback -->
<define name="PHI_PGAIN" value="-2000"/> <define name="PHI_PGAIN" value="2000"/>
<define name="PHI_DGAIN" value="-400"/> <define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="-200"/> <define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="-2000"/> <define name="THETA_PGAIN" value="2000"/>
<define name="THETA_DGAIN" value="-400"/> <define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="-200"/> <define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="-2000"/> <define name="PSI_PGAIN" value="2000"/>
<define name="PSI_DGAIN" value="-400"/> <define name="PSI_DGAIN" value="400"/>
<define name="PSI_IGAIN" value="-10"/> <define name="PSI_IGAIN" value="10"/>
<!-- feedforward --> <!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/> <define name="PHI_DDGAIN" value=" 300"/>
@@ -172,12 +172,12 @@
<define name="MAX_SUM_ERR" value="2000000"/> <define name="MAX_SUM_ERR" value="2000000"/>
<!-- <!--
<define name="HOVER_KP" value="-500"/> <define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="-200"/> <define name="HOVER_KD" value="200"/>
<define name="HOVER_KI" value="0"/> <define name="HOVER_KI" value="0"/>
--> -->
<define name="HOVER_KP" value="-150"/> <define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="-80"/> <define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="0"/> <define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) --> <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
@@ -189,10 +189,10 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-50"/> <define name="PGAIN" value="50"/>
<define name="DGAIN" value="-100"/> <define name="DGAIN" value="100"/>
<define name="IGAIN" value="-15"/> <define name="IGAIN" value="15"/>
<define name="NGAIN" value="-0"/> <define name="NGAIN" value="0"/>
</section> </section>
<section name="MISC"> <section name="MISC">
conf/airframes/Poine/easy_glider1.xml
+6 -6
View File
@@ -94,7 +94,7 @@
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/> <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain --> <!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.03"/> <define name="ALTITUDE_PGAIN" value="0.03"/>
<!-- outer loop saturation --> <!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/> <define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -105,7 +105,7 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/> <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/> <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/> <define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/> <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
@@ -113,21 +113,21 @@
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.10800004005"/> <define name="COURSE_PGAIN" value="1.10800004005"/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/> <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/> <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/> <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-15184.5644531"/> <define name="PITCH_PGAIN" value="15184.5644531"/>
<define name="PITCH_DGAIN" value="1.5"/> <define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/> <define name="ELEVATOR_OF_ROLL" value="1250"/>
<define name="ROLL_SLEW" value="0.1"/> <define name="ROLL_SLEW" value="0.1"/>
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/> <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/> <define name="ROLL_RATE_GAIN" value="1500"/>
</section> </section>
<section name="NAV"> <section name="NAV">
conf/airframes/Poine/funjet42.xml
+5 -5
View File
@@ -118,7 +118,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/> <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain --> <!-- 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 --> <!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/> <define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -127,12 +127,12 @@
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/> <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/> <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/> <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_IGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<!-- auto pitch inner loop --> <!-- 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_IGAIN" value="0.0"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/> <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/> <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -141,14 +141,14 @@
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.9"/> <define name="COURSE_PGAIN" value="0.9"/>
<define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/> <!-- 0.5 --> <define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/> <!-- 0.5 -->
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/> <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/> <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_PGAIN" value="6600."/> <define name="ROLL_PGAIN" value="6600."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/> <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="PITCH_DGAIN" value="0.4"/>
<define name="ELEVATOR_OF_ROLL" value="2400"/> <define name="ELEVATOR_OF_ROLL" value="2400"/>
conf/airframes/Poine/h_hex.xml
+18 -18
View File
@@ -86,9 +86,9 @@
<define name="SP_MAX_Q" value="10000"/> <define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/> <define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/> <define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="-400"/> <define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="-350"/> <define name="GAIN_R" value="350"/>
</section> </section>
@@ -117,17 +117,17 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/> <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback --> <!-- feedback -->
<define name="PHI_PGAIN" value="-400"/> <define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="-300"/> <define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="-100"/> <define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="-400"/> <define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="-300"/> <define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="-100"/> <define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="-380"/> <define name="PSI_PGAIN" value="380"/>
<define name="PSI_DGAIN" value="-320"/> <define name="PSI_DGAIN" value="320"/>
<define name="PSI_IGAIN" value="-75"/> <define name="PSI_IGAIN" value="75"/>
<!-- feedforward --> <!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/> <define name="PHI_DDGAIN" value=" 300"/>
@@ -146,9 +146,9 @@
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/> <define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/> <define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="MAX_SUM_ERR" value="2000000"/> <define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="-500"/> <define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="-200"/> <define name="HOVER_KD" value="200"/>
<define name="HOVER_KI" value="-100"/> <define name="HOVER_KI" value="100"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) --> <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/> <define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% --> <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
@@ -158,9 +158,9 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/> <define name="PGAIN" value="100"/>
<define name="DGAIN" value="-100"/> <define name="DGAIN" value="100"/>
<define name="IGAIN" value="-0"/> <define name="IGAIN" value="0"/>
</section> </section>
<section name="MISC"> <section name="MISC">
conf/airframes/Poine/swift_1.xml
+5 -5
View File
@@ -112,7 +112,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/> <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain --> <!-- 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 --> <!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/> <define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -121,12 +121,12 @@
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/> <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/> <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/> <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_IGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<!-- auto pitch inner loop --> <!-- 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_IGAIN" value="0.0"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/> <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/> <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -135,14 +135,14 @@
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.9"/> <define name="COURSE_PGAIN" value="0.9"/>
<define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/> <!-- 0.5 --> <define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/> <!-- 0.5 -->
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/> <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/> <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_PGAIN" value="6600."/> <define name="ROLL_PGAIN" value="6600."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/> <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="PITCH_DGAIN" value="0.4"/>
<define name="ELEVATOR_OF_ROLL" value="2400"/> <define name="ELEVATOR_OF_ROLL" value="2400"/>
conf/airframes/TU_Delft/EasyStartPanTiltCHIMU_SPI.xml
+6 -6
View File
@@ -91,7 +91,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/> <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain --> <!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.03"/> <define name="ALTITUDE_PGAIN" value="0.03"/>
<!-- outer loop saturation --> <!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/> <define name="ALTITUDE_MAX_CLIMB" value="2."/>
@@ -102,7 +102,7 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/> <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/> <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/> <define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/> <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
@@ -110,7 +110,7 @@
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.20000004768"/> <define name="COURSE_PGAIN" value="1.20000004768"/>
<define name="COURSE_DGAIN" value="0.3"/> <define name="COURSE_DGAIN" value="0.3"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/> <define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
@@ -118,13 +118,13 @@
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/> <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/> <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-12000."/> <define name="PITCH_PGAIN" value="12000."/>
<define name="PITCH_DGAIN" value="0"/> <define name="PITCH_DGAIN" value="0"/>
<define name="ELEVATOR_OF_ROLL" value="1000."/> <define name="ELEVATOR_OF_ROLL" value="1000."/>
<define name="ROLL_ATTITUDE_GAIN" value="-11500"/> <define name="ROLL_ATTITUDE_GAIN" value="11500"/>
<define name="ROLL_RATE_GAIN" value="-600."/> <define name="ROLL_RATE_GAIN" value="600."/>
</section> </section>
<section name="AGGRESSIVE" prefix="AGR_"> <section name="AGGRESSIVE" prefix="AGR_">
conf/airframes/TU_Delft/MicrojetBR.xml
+8 -8
View File
@@ -109,7 +109,7 @@
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/> <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain --> <!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.101000003517"/> <define name="ALTITUDE_PGAIN" value="0.101000003517"/>
<!-- outer loop saturation max m/s the alt tap can be--> <!-- outer loop saturation max m/s the alt tap can be-->
<define name="ALTITUDE_MAX_CLIMB" value="4"/> <define name="ALTITUDE_MAX_CLIMB" value="4"/>
@@ -120,12 +120,12 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="219.511993408"/> <define name="AUTO_THROTTLE_LOITER_TRIM" value="219.511993408"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/> <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.104999996722" unit="%/(m/s)"/> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.104999996722" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.00700000021607"/> <define name="AUTO_THROTTLE_PGAIN" value="0.00700000021607"/>
<define name="AUTO_THROTTLE_IGAIN" value="0."/> <define name="AUTO_THROTTLE_IGAIN" value="0."/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.12800000608"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.12800000608"/>
<!-- auto pitch inner loop --> <!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.0399999991059"/> <define name="AUTO_PITCH_PGAIN" value="0.0399999991059"/>
<define name="AUTO_PITCH_IGAIN" value="0.019999999553"/> <define name="AUTO_PITCH_IGAIN" value="0.019999999553"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/> <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/> <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -135,18 +135,18 @@
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.54100000858"/> <define name="COURSE_PGAIN" value="1.54100000858"/>
<define name="ROLL_MAX_SETPOINT" value="0.916999995708" unit="rad"/> <define name="ROLL_MAX_SETPOINT" value="0.916999995708" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/> <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.4" unit="rad"/> <define name="PITCH_MIN_SETPOINT" value="-0.4" unit="rad"/>
<define name="ROLL_PGAIN" value="5000."/> <define name="ROLL_PGAIN" value="5000."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/> <define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-7330.82714844"/> <define name="PITCH_PGAIN" value="7330.82714844"/>
<define name="PITCH_DGAIN" value="1.7254999876"/> <define name="PITCH_DGAIN" value="1.7254999876"/>
<define name="ELEVATOR_OF_ROLL" value="1250."/> <define name="ELEVATOR_OF_ROLL" value="1250."/>
<define name="ROLL_RATE_GAIN" value="-112.781997681"/> <define name="ROLL_RATE_GAIN" value="112.781997681"/>
<define name="ROLL_ATTITUDE_GAIN" value="-4957.62695312"/> <define name="ROLL_ATTITUDE_GAIN" value="4957.62695312"/>
<!-- roll rate loop --> <!-- roll rate loop -->
<define name="ROLL_RATE_MODE_DEFAULT" value="1"/> <define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
@@ -167,7 +167,7 @@
<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
+7 -7
View File
@@ -144,7 +144,7 @@
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/> <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain --> <!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.101000003517"/> <define name="ALTITUDE_PGAIN" value="0.101000003517"/>
<!-- outer loop saturation max m/s the alt tap can be--> <!-- outer loop saturation max m/s the alt tap can be-->
<define name="ALTITUDE_MAX_CLIMB" value="4"/> <define name="ALTITUDE_MAX_CLIMB" value="4"/>
@@ -160,7 +160,7 @@
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.202000007033"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.202000007033"/>
<!-- auto pitch inner loop --> <!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.0399999991059"/> <define name="AUTO_PITCH_PGAIN" value="0.0399999991059"/>
<define name="AUTO_PITCH_IGAIN" value="0.019999999553"/> <define name="AUTO_PITCH_IGAIN" value="0.019999999553"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/> <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/> <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -170,7 +170,7 @@
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.12900002003"/> <define name="COURSE_PGAIN" value="1.12900002003"/>
<define name="COURSE_DGAIN" value="0.556999993324"/> <define name="COURSE_DGAIN" value="0.556999993324"/>
<define name="ROLL_MAX_SETPOINT" value="0.916999995708" unit="rad"/> <define name="ROLL_MAX_SETPOINT" value="0.916999995708" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.6" unit="rad"/> <define name="PITCH_MAX_SETPOINT" value="0.6" unit="rad"/>
@@ -178,11 +178,11 @@
<define name="ROLL_PGAIN" value="0."/> <define name="ROLL_PGAIN" value="0."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/> <define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-8550.48925781"/> <define name="PITCH_PGAIN" value="8550.48925781"/>
<define name="PITCH_DGAIN" value="1.7254999876"/> <define name="PITCH_DGAIN" value="1.7254999876"/>
<define name="ELEVATOR_OF_ROLL" value="1250."/> <define name="ELEVATOR_OF_ROLL" value="1250."/>
<define name="ROLL_RATE_GAIN" value="-625."/> <define name="ROLL_RATE_GAIN" value="625."/>
<define name="ROLL_ATTITUDE_GAIN" value="-4464.28613281"/> <define name="ROLL_ATTITUDE_GAIN" value="4464.28613281"/>
<!-- roll rate loop --> <!-- roll rate loop -->
<define name="ROLL_RATE_MODE_DEFAULT" value="1"/> <define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
@@ -203,7 +203,7 @@
<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/MicrojetCDW.xml
+5 -5
View File
@@ -128,7 +128,7 @@
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/> <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain --> <!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.01"/> <define name="ALTITUDE_PGAIN" value="0.01"/>
<!-- outer loop saturation --> <!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="4."/> <define name="ALTITUDE_MAX_CLIMB" value="4."/>
@@ -146,19 +146,19 @@
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.39999997616"/> <define name="COURSE_PGAIN" value="1.39999997616"/>
<define name="ROLL_MAX_SETPOINT" value="0.703999996185" unit="rad"/> <define name="ROLL_MAX_SETPOINT" value="0.703999996185" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.4" unit="rad"/> <define name="PITCH_MAX_SETPOINT" value="0.4" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.4" unit="rad"/> <define name="PITCH_MIN_SETPOINT" value="-0.4" unit="rad"/>
<define name="PITCH_PGAIN" value="-6000."/> <define name="PITCH_PGAIN" value="6000."/>
<define name="PITCH_DGAIN" value="0."/> <define name="PITCH_DGAIN" value="0."/>
<define name="ELEVATOR_OF_ROLL" value="1200."/> <define name="ELEVATOR_OF_ROLL" value="1200."/>
<define name="ROLL_ATTITUDE_GAIN" value="-6000."/> <define name="ROLL_ATTITUDE_GAIN" value="6000."/>
<define name="ROLL_RATE_GAIN" value="-600."/> <define name="ROLL_RATE_GAIN" value="600."/>
<define name="ROLL_SLEW" value="0.02"/> <!-- Maximal roll angle change per 1/60 of second: 0.02 rad/loop * 180/pi * 60 loop/sec = 60 deg/sec --> <define name="ROLL_SLEW" value="0.02"/> <!-- Maximal roll angle change per 1/60 of second: 0.02 rad/loop * 180/pi * 60 loop/sec = 60 deg/sec -->
</section> </section>
conf/airframes/TU_Delft/Trip50A.xml
+8 -8
View File
@@ -112,19 +112,19 @@
<define name="POWER_CTL_BAT_NOMINAL" value="7.6" unit="volt"/> <define name="POWER_CTL_BAT_NOMINAL" value="7.6" unit="volt"/>
<!-- Vertical Outerloop <!-- Vertical Outerloop
v_ctl_climb_setpoint = ALTITUDE_PGAIN * altitude_error + altitude_pre_climb; v_ctl_climb_setpoint = -ALTITUDE_PGAIN * altitude_error + altitude_pre_climb;
BoundAbs(v_ctl_climb_setpoint, V_CTL_ALTITUDE_MAX_CLIMB); BoundAbs(v_ctl_climb_setpoint, V_CTL_ALTITUDE_MAX_CLIMB);
--> -->
<!-- outer loop proportional gain: alt error 5 climb m/s --> <!-- outer loop proportional gain: alt error 5 climb m/s -->
<define name="ALTITUDE_PGAIN" value="-0.0750000029802"/> <define name="ALTITUDE_PGAIN" value="0.0750000029802"/>
<!-- outer loop saturation: m/s--> <!-- outer loop saturation: m/s-->
<define name="ALTITUDE_MAX_CLIMB" value="5.0"/> <define name="ALTITUDE_MAX_CLIMB" value="5.0"/>
<!-- auto throttle inner loop <!-- auto throttle inner loop
float controlled_throttle = v_ctl_auto_throttle_cruise_throttle float controlled_throttle = v_ctl_auto_throttle_cruise_throttle
+ v_ctl_auto_throttle_climb_throttle_increment * v_ctl_climb_setpoint + v_ctl_auto_throttle_climb_throttle_increment * v_ctl_climb_setpoint
+ v_ctl_auto_throttle_pgain * - v_ctl_auto_throttle_pgain *
(err + v_ctl_auto_throttle_igain * v_ctl_auto_throttle_sum_err (err + v_ctl_auto_throttle_igain * v_ctl_auto_throttle_sum_err
+ v_ctl_auto_throttle_dgain * d_err); + v_ctl_auto_throttle_dgain * d_err);
@@ -138,7 +138,7 @@
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500."/> <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500."/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/> <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0." unit="%/(m/s)"/> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0." unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.035000000149"/> <define name="AUTO_THROTTLE_PGAIN" value="0.035000000149"/>
<define name="AUTO_THROTTLE_IGAIN" value="0."/> <define name="AUTO_THROTTLE_IGAIN" value="0."/>
<define name="AUTO_THROTTLE_DGAIN" value="0.0"/> <define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0."/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0."/>
@@ -158,21 +158,21 @@
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.5"/> <!-- Heading outerloop: only P-gain --> <define name="COURSE_PGAIN" value="1.5"/> <!-- Heading outerloop: only P-gain -->
<define name="ROLL_MAX_SETPOINT" value="0.75" unit="rad"/> <!-- Max Angles --> <define name="ROLL_MAX_SETPOINT" value="0.75" unit="rad"/> <!-- Max Angles -->
<define name="PITCH_MAX_SETPOINT" value="0.4" unit="rad"/> <define name="PITCH_MAX_SETPOINT" value="0.4" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.4" unit="rad"/> <define name="PITCH_MIN_SETPOINT" value="-0.4" unit="rad"/>
<define name="PITCH_PGAIN" value="-7110.09179688"/> <!-- Pitch Angle PD control --> <define name="PITCH_PGAIN" value="7110.09179688"/> <!-- Pitch Angle PD control -->
<define name="PITCH_DGAIN" value="2."/> <define name="PITCH_DGAIN" value="2."/>
<define name="ELEVATOR_OF_ROLL" value="1500."/> <!-- Feed forward ABS(roll) to elevator --> <define name="ELEVATOR_OF_ROLL" value="1500."/> <!-- Feed forward ABS(roll) to elevator -->
<define name="ROLL_SLEW" value="0.30"/> <!-- Maximal roll angle change per 1/60 of second --> <define name="ROLL_SLEW" value="0.30"/> <!-- Maximal roll angle change per 1/60 of second -->
<define name="ROLL_ATTITUDE_GAIN" value="-7000."/> <!-- Roll Angle PD control --> <define name="ROLL_ATTITUDE_GAIN" value="7000."/> <!-- Roll Angle PD control -->
<define name="ROLL_RATE_GAIN" value="-2752.29394531"/> <define name="ROLL_RATE_GAIN" value="2752.29394531"/>
<!-- <!--
#ifdef H_CTL_ROLL_ATTITUDE_GAIN #ifdef H_CTL_ROLL_ATTITUDE_GAIN

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