mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-06 16:58:48 +08:00
Paul Cox
52 lines
2.6 KiB
XML
52 lines
2.6 KiB
XML
<!DOCTYPE settings SYSTEM "settings.dtd">
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<settings>
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<dl_settings>
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<dl_settings NAME="Controller">
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<dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="firmwares/beth/overo_twist_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
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<dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="firmwares/beth/overo_twist_controller" shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
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</dl_setting>
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<dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" module="firmwares/beth/overo_estimator" shortname="azim_gain">
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</dl_setting>
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<dl_setting var="controller.omega_tilt_ref" min="200" step="100" max="1200" module="firmwares/beth/overo_twist_controller" shortname="tilt_omega_ref" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578">
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</dl_setting>
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<dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator" shortname="elev_lp_coeff">
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</dl_setting>
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<dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator" shortname="tilt_lp_coeff">
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</dl_setting>
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<dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator" shortname="azim_lp_coeff">
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</dl_setting>
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<dl_setting var="controller.ulim" min="0.1" step="0.1" max="50" module="firmwares/beth/overo_twist_controller" shortname="ulim">
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</dl_setting>
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<dl_setting var="controller.Vm" min="0.001" step="0.01" max="200" module="firmwares/beth/overo_twist_controller" shortname="Vm">
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</dl_setting>
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<dl_setting var="controller.VM" min="100" step="10" max="600" module="firmwares/beth/overo_twist_controller" shortname="VM">
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</dl_setting>
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<dl_setting var="controller.satval1" min="0" step="0.1" max="100" module="firmwares/beth/overo_twist_controller" shortname="satval1">
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</dl_setting>
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<dl_setting var="controller.satval2" min="0.01" step="0.1" max="4" module="firmwares/beth/overo_twist_controller" shortname="satval2">
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</dl_setting>
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<dl_setting var="controller.c" min="0.001" step="0.01" max="10" module="firmwares/beth/overo_twist_controller" shortname="c">
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</dl_setting>
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<!--float ulim; 1
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float Vm; .1
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float VM; 300
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float satval1; 0.4
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float satval2; 1
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const float c;.04-->
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<dl_setting var="controller.armed" min="0" step="1" max="2" shortname ="mode"/>
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</dl_settings>
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</dl_settings>
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</settings>
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