mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 05:42:49 +08:00
Felix Ruess
93 lines
6.1 KiB
XML
93 lines
6.1 KiB
XML
<!DOCTYPE settings SYSTEM "settings.dtd">
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<!-- A conf to use to tune a new A/C -->
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<settings>
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<dl_settings>
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<dl_settings NAME="flight params">
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<dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
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<dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_east"/>
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<dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_north"/>
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</dl_settings>
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<dl_settings NAME="mode">
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<dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="autopilot"/>
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<dl_setting MAX="1" MIN="0" STEP="1" VAR="alt_kalman_enabled" shortname="alt_kalman" module="estimator"/>
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<dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time"/>
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<dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
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<dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle">
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</dl_setting>
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<dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Ap" shortname="tele_AP"/>
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<dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
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</dl_settings>
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<dl_settings NAME="control">
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<dl_settings NAME="infrared">
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<dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="infrared.roll_neutral" shortname="roll_neutral" param="IR_ROLL_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg" module="subsystems/sensors/infrared" />
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<dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="infrared.pitch_neutral" shortname="pitch_neutral" param="IR_PITCH_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
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<dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="infrared.lateral_correction" shortname="lat_corr" param="IR_LATERAL_CORRECTION"/>
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<dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="infrared.longitudinal_correction" shortname="log_corr" param="IR_LONGITUDINAL_CORRECTION"/>
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<dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.vertical_correction" shortname="vert_corr" param="IR_VERTICAL_CORRECTION"/>
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<dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_left" shortname="corr_left" param="IR_CORRECTION_LEFT"/>
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<dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_right" shortname="corr_right" param="IR_CORRECTION_RIGHT"/>
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<dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_up" shortname="corr_up" param="IR_CORRECTION_UP"/>
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<dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_down" shortname="corr_down" param="IR_CORRECTION_DOWN"/>
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</dl_settings>
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<dl_settings NAME="attitude">
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<dl_setting MAX="1" MIN="0" STEP="0.05" VAR="h_ctl_roll_max_setpoint" shortname="max_roll" module="stabilization/stabilization_attitude"/>
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<dl_setting MAX="000" MIN="-25000" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain"/>
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<dl_setting MAX="2" MIN="0." STEP="0.1" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain"/>
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<dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll" shortname="elevator_of_roll"/>
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<dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
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<dl_setting MAX="0" MIN="-10000" STEP="50" VAR="h_ctl_roll_attitude_gain" shortname="roll attitude pgain"/>
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<dl_setting MAX="0" MIN="-1500" STEP="5" VAR="h_ctl_roll_rate_gain" shortname="roll rate gain"/>
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</dl_settings>
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<dl_settings name="alt">
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<dl_setting MAX="0" MIN="-0.2" STEP="0.01" VAR="v_ctl_altitude_pgain" shortname="alt_pgain"/>
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</dl_settings>
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<dl_settings name="auto_throttle">
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<dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" module="guidance/guidance_v" handler="SetCruiseThrottle">
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<strip_button name="Dash" value="1"/>
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<strip_button name="Loiter" value="0.5"/>
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<strip_button name="Cruise" value="0"/>
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</dl_setting>
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<dl_setting MAX="0.00" MIN="-0.05" STEP="0.005" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain"/>
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<dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain"/>
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<dl_setting MAX="2" MIN="0.0" STEP="0.1" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_dgain"/>
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<dl_setting MAX="0" MIN="-4000" STEP="100" VAR="v_ctl_auto_throttle_dash_trim" shortname="dash trim"/>
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<dl_setting MIN="0" MAX="3000" STEP="100" VAR="v_ctl_auto_throttle_loiter_trim" shortname="loiter trim"/>
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<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr"/>
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<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz"/>
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<dl_setting MAX="10" MIN="-10" STEP="0.1" VAR="v_ctl_auto_throttle_pitch_of_vz_dgain" shortname="pitch_of_vz (d)"/>
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</dl_settings>
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<dl_settings name="nav">
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<dl_setting MAX="-0.1" MIN="-3" STEP="0.05" VAR="h_ctl_course_pgain" shortname="course pgain"/>
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<dl_setting MAX="2" MIN="0" STEP="0.1" VAR="h_ctl_course_dgain" shortname="course dgain"/>
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<dl_setting MAX="2" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pre_bank_correction" shortname="pre bank cor"/>
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<dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="nav_glide_pitch_trim" shortname="glide pitch trim"/>
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<dl_setting MAX="1" MIN="0.02" STEP="0.01" VAR="h_ctl_roll_slew" shortname="roll slew"/>
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<dl_setting MAX="500" MIN="-500" STEP="5" VAR="nav_radius"/>
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<dl_setting MAX="359" MIN="0" STEP="5" VAR="nav_course"/>
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<dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
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<dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift">
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</dl_setting>
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<dl_setting MAX="20" MIN="10" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
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<dl_setting MAX="0." MIN="-0.05" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
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<dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
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</dl_settings>
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</dl_settings>
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</dl_settings>
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</settings>
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