paparazzi/conf/settings/tuning.xml

<!DOCTYPE settings SYSTEM "settings.dtd">

<!-- A conf to use to tune a new A/C -->

<settings>
  <dl_settings>
    <dl_settings NAME="flight params">
      <dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
      <dl_setting MAX="2" MIN="0" STEP="1" VAR="light_mode"/>
      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_east"/>
      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_north"/>
    </dl_settings>

    <dl_settings NAME="mode">
      <dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode"/>
        <dl_setting MAX="1" MIN="0" STEP="1" VAR="alt_kalman_enabled" shortname="alt_kalman"/>
      <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time"/>
      <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
      <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle">
        <strip_button name="KILL" value="1"/>
      </dl_setting>
      <dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Ap" shortname="tele_AP"/>
      <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps_reset" module="gps_ubx" handler="Reset" shortname="GPS reset"/>
    </dl_settings>

    <dl_settings NAME="control">
      <dl_settings NAME="ir">
        <dl_setting MAX="0.3" MIN="-0.3" STEP="0.01" VAR="ir_roll_neutral" shortname="roll_neutral"/>
        <dl_setting MAX="0.5" MIN="-0.3" STEP="0.01" VAR="ir_pitch_neutral" shortname="pitch_neutral"/>

        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_left" shortname="corr_left"/>
        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_right" shortname="corr_right"/>
        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_up" shortname="corr_up"/>
        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_down" shortname="corr_down"/>

        <dl_setting MAX="1.5" MIN="0.4" STEP="0.05" VAR="ir_estimated_phi_pi_4" shortname="est. right"/>
        <dl_setting MAX="1.5" MIN="0.4" STEP="0.05" VAR="ir_estimated_phi_minus_pi_4" shortname="est. left"/>
        <dl_setting MAX="1.5" MIN="0.4" STEP="0.05" VAR="ir_estimated_theta_pi_4" shortname="est. up"/>
        <dl_setting MAX="1.5" MIN="0.4" STEP="0.05" VAR="ir_estimated_phi_minus_pi_4" shortname="est. down"/>
        <dl_setting MAX="1" MIN="0" STEP="1" VAR="ir_360" shortname="ir_360"/>
      </dl_settings>


      <dl_settings NAME="attitude">
        <dl_setting MAX="25000" MIN="000" STEP="250" VAR="h_ctl_roll_pgain" shortname="roll_pgain"/>
        <dl_setting MAX="0.6" MIN="0" STEP="0.05" VAR="h_ctl_roll_max_setpoint" shortname="max_roll"/>
        <dl_setting MAX="000" MIN="-25000" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain"/>
        <dl_setting MAX="2" MIN="0." STEP="0.1" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain"/>
        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll" shortname="elevator_of_roll"/>
        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
      </dl_settings>

      <dl_settings name="alt">
        <dl_setting MAX="0" MIN="-0.2" STEP="0.01" VAR="v_ctl_altitude_pgain" shortname="alt_pgain"/>
      </dl_settings>

      <dl_settings name="auto_throttle">
        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" module="fw_v_ctl" handler="SetCruiseThrottle">
        <strip_button name="Dash" value="1"/>
        <strip_button name="Loiter" value="0.1"/>
        <strip_button name="Cruise" value="0"/>
      </dl_setting>
       

        <dl_setting MAX="0.00" MIN="-0.05" STEP="0.005" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain"/>
        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain"/>
        <dl_setting MAX="0" MIN="-4000" STEP="100" VAR="v_ctl_auto_throttle_dash_trim" shortname="dash trim"/>
        <dl_setting MIN="0" MAX="3000" STEP="100" VAR="v_ctl_auto_throttle_loiter_trim" shortname="loiter trim"/>
        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr"/>
        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz"/>
      </dl_settings>

      <dl_settings name="auto_pitch">
        <dl_setting MAX="-0.01" MIN="-0.1" STEP="0.01" VAR="v_ctl_auto_pitch_pgain" shortname="pgain"/>
        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_pitch_igain" shortname="igain"/>
      </dl_settings>

      <dl_settings name="nav">
        <dl_setting MAX="-0.1" MIN="-2" STEP="0.05" VAR="h_ctl_course_pgain" shortname="course pgain"/>
        <dl_setting MAX="2" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pre_bank_correction" shortname="pre bank cor"/>
        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="nav_glide_pitch_trim" shortname="glide pitch trim"/>
        <dl_setting MAX="1" MIN="0.02" STEP="0.01" VAR="h_ctl_roll_slew" shortname="roll slew"/>
        <dl_setting MAX="500" MIN="-500" STEP="5" VAR="nav_radius"/>
        <dl_setting MAX="359" MIN="0" STEP="5" VAR="nav_course"/>
        <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="nav" handler="IncreaseShift" shortname="inc. shift">
          <strip_button name="<" value="-5"/>
          <strip_button name="|" value="0"/>
          <strip_button name=">" value="5"/>
	</dl_setting>
	<dl_setting MAX="20" MIN="10" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
	<dl_setting MAX="0." MIN="-0.05" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
        <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
      </dl_settings>
    </dl_settings>
  </dl_settings>
</settings>