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[paparazzi-commits] [6389] funjet with new control loops
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From: |
Gautier Hattenberger |
|
Subject: |
[paparazzi-commits] [6389] funjet with new control loops |
|
Date: |
Thu, 11 Nov 2010 09:35:45 +0000 |
Revision: 6389
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6389
Author: gautier
Date: 2010-11-11 09:35:44 +0000 (Thu, 11 Nov 2010)
Log Message:
-----------
funjet with new control loops
Added Paths:
-----------
paparazzi-software/trunk/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
paparazzi-software/trunk/conf/settings/tuning_ctl_new.xml
Added: paparazzi-software/trunk/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
===================================================================
--- paparazzi-software/trunk/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
(rev 0)
+++ paparazzi-software/trunk/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
2010-11-11 09:35:44 UTC (rev 6389)
@@ -0,0 +1,239 @@
+<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+
+<!-- Funjet Multiplex (http://www.multiplex-rc.de/)
+ Tiny 2.11 board (http://paparazzi.enac.fr/wiki/Tiny_v2)
+ IR i2c
+ Tilted infrared sensor
(http://paparazzi.enac.fr/wiki/Image:Tiny_v2_1_Funjet.jpg)
+ Radiotronix modem
+ LEA 5H GPS
+ Airspeed sensor
+ Digital camera
+-->
+
+<airframe name="Funjet Tiny 2.11">
+
+ <modules>
+ <load name="light.xml">
+ <param name="LIGHT_LED_STROBE" value="5"/>
+ <param name="LIGHT_LED_NAV" value="3"/>
+ </load>
+ <load name="infrared_i2c.xml"/>
+ <load name="pbn.xml"/>
+ <load name="ins_vn100.xml"/>
+ </modules>
+
+ <firmware name="fixedwing">
+ <target name="sim" board="pc">
+ <define name="AGR_CLIMB"/>
+ <define name="ALT_KALMAN"/>
+ <define name="PITCH_TRIM"/>
+ <define name="USE_I2C0"/>
+ <define name="USE_AIRSPEED"/>
+ </target>
+ <target name="ap" board="tiny_2.11">
+ <param name="FLASH_MODE" value="IAP"/>
+ <define name="AGR_CLIMB"/>
+ <define name="ALT_KALMAN"/>
+ <define name="PITCH_TRIM"/>
+ <define name="USE_I2C0"/>
+ <define name="USE_AIRSPEED"/>
+ <define name="SPI_MASTER"/>
+ <define name="USE_SPI_SLAVE0"/>
+ </target>
+
+ <subsystem name="radio_control" type="ppm"/>
+ <!--subsystem name="joystick"/-->
+ <subsystem name="i2c"/>
+ <subsystem name="spi"/>
+
+ <!-- Communication -->
+ <subsystem name="telemetry" type="transparent"/>
+
+ <!-- Actuators are automatically chosen according to board-->
+ <subsystem name="control" type="new"/>
+ <!-- Sensors -->
+ <subsystem name="gps" type="ublox_lea5h"/>
+ <subsystem name="gyro" type="roll">
+ <param name="ADC_GYRO_ROLL" value="ADC_5"/>
+ </subsystem>
+
+ <subsystem name="current_sensor">
+ <param name="ADC_CURRENT_SENSOR" value="ADC_3"/>
+ </subsystem>
+
+ <subsystem name="navigation"/>
+ </firmware>
+
+
+ <firmware name="setup">
+ <target name="tunnel" board="tiny_2.11"/>
+ <target name="setup_actuators" board="tiny_2.11"/>
+ </firmware>
+
+<!-- commands section -->
+ <servos>
+ <servo name="MOTOR" no="0" min="1040" neutral="1040" max="2000"/>
+ <servo name="AILEVON_LEFT" no="2" min="1900" neutral="1500" max="1050"/>
+ <servo name="AILEVON_RIGHT" no="6" min="1120" neutral="1540" max="1980"/>
+ </servos>
+
+ <commands>
+ <axis name="THROTTLE" failsafe_value="0"/>
+ <axis name="ROLL" failsafe_value="0"/>
+ <axis name="PITCH" failsafe_value="0"/>
+ </commands>
+
+ <rc_commands>
+ <set command="THROTTLE" value="@THROTTLE"/>
+ <set command="ROLL" value="@ROLL"/>
+ <set command="PITCH" value="@PITCH"/>
+ </rc_commands>
+
+ <section name="MIXER">
+ <define name="AILEVON_AILERON_RATE" value="0.75"/>
+ <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
+ </section>
+
+ <command_laws>
+ <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
+ <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
+ <set servo="MOTOR" value="@THROTTLE"/>
+ <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
+ <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
+ </command_laws>
+
+ <section name="AUTO1" prefix="AUTO1_">
+ <define name="MAX_ROLL" value="0.85"/>
+ <define name="MAX_PITCH" value="0.6"/>
+ </section>
+
+ <section name="INFRARED" prefix="IR_">
+ <define name="IR1_NEUTRAL" value="-15"/>
+ <define name="IR2_NEUTRAL" value="0"/>
+ <define name="TOP_NEUTRAL" value="-20"/>
+ <define name="I2C_DEFAULT_CONF" value="1"/>
+
+ <define name="LATERAL_CORRECTION" value="1"/>
+ <define name="LONGITUDINAL_CORRECTION" value="1"/>
+ <define name="VERTICAL_CORRECTION" value="1"/>
+
+ <define name="HORIZ_SENSOR_TILTED" value="1"/>
+ <define name="IR1_SIGN" value="1"/>
+ <define name="IR2_SIGN" value="1"/>
+ <define name="TOP_SIGN" value="1"/>
+
+ <define name="ROLL_NEUTRAL_DEFAULT" value="2." unit="deg"/>
+ <define name="PITCH_NEUTRAL_DEFAULT" value="2." unit="deg"/>
+ </section>
+
+ <section name="GYRO" prefix="GYRO_">
+ <define name="ADC_ROLL_NEUTRAL" value="487"/>
+ <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
+ <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
+ <define name="ROLL_SCALE"
value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)"
unit="deg/s/adc_unit"/>
+ <define name="ROLL_DIRECTION" value="1."/>
+ </section>
+
+ <section name="BAT">
+ <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
+ <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+ <define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*17.4"/>
+ </section>
+
+ <section name="MISC">
+ <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
+ <define name="CARROT" value="5." unit="s"/>
+ <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
+ <define name="CONTROL_RATE" value="60" unit="Hz"/>
+ <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
+
+ <define name="TRIGGER_DELAY" value="1."/>
+ <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
+
+ </section>
+
+ <section name="VERTICAL CONTROL" prefix="V_CTL_">
+ <!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/-->
+ <!-- outer loop proportional gain -->
+ <define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
+ <!-- outer loop saturation -->
+ <define name="ALTITUDE_MAX_CLIMB" value="3."/>
+
+ <!-- auto throttle inner loop -->
+ <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
+ <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
+ <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
+ <define name="AUTO_THROTTLE_LOITER_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_PGAIN" value="-0.01"/>
+ <define name="AUTO_THROTTLE_IGAIN" value="0.04"/>
+ <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
+
+ <!-- auto pitch inner loop -->
+ <define name="AUTO_PITCH_PGAIN" value="-0.03"/>
+ <define name="AUTO_PITCH_DGAIN" 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_MAX_PITCH" value="0.35"/>
+ <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
+
+ <!-- airspeed control -->
+ <define name="AUTO_AIRSPEED_SETPOINT" value="15."/>
+ <define name="AUTO_AIRSPEED_PGAIN" value="0.05"/>
+ <define name="AUTO_AIRSPEED_IGAIN" value="0.01"/>
+ <define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
+ <define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
+ <define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>
+ <define name="AIRSPEED_MAX" value="22"/>
+ <define name="AIRSPEED_MIN" value="8"/>
+
+ <!-- pitch trim -->
+ <define name="PITCH_LOITER_TRIM" value="RadOfDeg(5.)"/>
+ <define name="PITCH_DASH_TRIM" value="RadOfDeg(-5.)"/>
+
+ <define name="THROTTLE_SLEW" value="0.1"/>
+ </section>
+
+ <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+ <define name="COURSE_PGAIN" value="-1."/>
+ <define name="ROLL_MAX_SETPOINT" value="0.8" unit="radians"/>
+ <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
+ <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+
+ <define name="ROLL_ATTITUDE_GAIN" value="-9000."/>
+ <define name="ROLL_RATE_GAIN" value="-3000."/>
+ <define name="ROLL_IGAIN" value="-500"/>
+ <define name="ROLL_KFFA" value="-500"/>
+ <define name="ROLL_KFFD" value="-500"/>
+
+ <define name="PITCH_PGAIN" value="-20000."/>
+ <define name="PITCH_DGAIN" value="0.4"/>
+ <define name="PITCH_IGAIN" value="-500"/>
+ <define name="PITCH_KFFA" value="0."/>
+ <define name="PITCH_KFFD" value="0."/>
+
+ <define name="PITCH_OF_ROLL" value="RadOfDeg(0.2)"/>
+ <define name="AILERON_OF_THROTTLE" value="0.0"/>
+ <define name="ELEVATOR_OF_ROLL" value="1400"/>
+ </section>
+
+ <section name="NAV">
+ <define name="NAV_PITCH" value="0."/>
+ <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+ </section>
+
+ <section name="FAILSAFE" prefix="FAILSAFE_">
+ <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
+ <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+ <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+ <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+ <define name="HOME_RADIUS" value="100" unit="m"/>
+ </section>
+
+ <section name="SIMU">
+ <define name="ROLL_RESPONSE_FACTOR" value="10"/>
+ <define name="MAX_ROLL_DOT" value="20" unit="rad/s"/>
+ </section>
+
+</airframe>
Added: paparazzi-software/trunk/conf/settings/tuning_ctl_new.xml
===================================================================
--- paparazzi-software/trunk/conf/settings/tuning_ctl_new.xml
(rev 0)
+++ paparazzi-software/trunk/conf/settings/tuning_ctl_new.xml 2010-11-11
09:35:44 UTC (rev 6389)
@@ -0,0 +1,127 @@
+<!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="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" module="autopilot"/>
+ <dl_setting MAX="1" MIN="0" STEP="1" VAR="alt_kalman_enabled"
shortname="alt_kalman" module="estimator"/>
+ <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time"
shortname="flight time"/>
+ <dl_setting MAX="1000" MIN="0" STEP="1" VAR="stage_time"/>
+ <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
+ <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
+ <dl_setting MAX="2" MIN="0" STEP="1"
VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="downlink"/>
+ <dl_setting MAX="1" MIN="0" STEP="1"
VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="downlink"/>
+ <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps_reset" module="gps_ubx"
handler="Reset" shortname="GPS reset"/>
+
+ <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="nav"
handler="SetNavRadius">
+ <strip_button icon="circle-right.png" name="Circle right" value="1"
group="circle"/>
+ <strip_button icon="circle-left.png" name="Circle left" value="-1"
group="circle"/>
+ <key_press key="greater" value="1"/>
+ <key_press key="less" value="-1"/>
+ </dl_setting>
+ </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" param="IR_ROLL_NEUTRAL_DEFAULT" unit="rad"/>
+ <dl_setting MAX="0.5" MIN="-0.3" STEP="0.01" VAR="ir_pitch_neutral"
shortname="pitch_neutral" param="IR_PITCH_NEUTRAL_DEFAULT" unit="rad"/>
+
+ <dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="ir_lateral_correction"
shortname="360_lat_corr" module="infrared" param="IR_LATERAL_CORRECTION"/>
+ <dl_setting MAX="1.5" MIN="0." STEP="0.1"
VAR="ir_longitudinal_correction" shortname="360_log_corr"
param="IR_LONGITUDINAL_CORRECTION"/>
+ <dl_setting MAX="1.5" MIN="0.5" STEP="0.1"
VAR="ir_vertical_correction" shortname="360_vert_corr"
param="IR_VERTICAL_CORRECTION"/>
+
+ <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_left"
shortname="corr_left" param="IR_CORRECTION_LEFT"/>
+ <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_right"
shortname="corr_right" param="IR_CORRECTION_RIGHT"/>
+ <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_up"
shortname="corr_up" param="IR_CORRECTION_UP"/>
+ <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_down"
shortname="corr_down" param="IR_CORRECTION_DOWN"/>
+
+ </dl_settings>
+
+
+ <dl_settings NAME="attitude">
+ <dl_setting MAX="1" MIN="0" STEP="1" var="use_airspeed_ratio"
values="FALSE|TRUE"/>
+ <dl_setting MAX="0" MIN="-15000" STEP="250"
VAR="h_ctl_roll_attitude_gain" shortname="roll_pgain"
param="H_CTL_ROLL_ATTITUDE_GAIN" module="fw_h_ctl"/>
+ <dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_rate_gain"
shortname="roll_dgain" param="H_CTL_ROLL_RATE_GAIN"/>
+ <dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_roll_igain"
shortname="roll_igain" module="fw_h_ctl_a" handler="SetRollIGain"/>
+ <dl_setting MAX="0" MIN="-55000" STEP="250" VAR="h_ctl_pitch_pgain"
shortname="pitch_pgain" param="H_CTL_PITCH_PGAIN"/>
+ <dl_setting MAX="0" MIN="-55000" STEP="250" VAR="h_ctl_pitch_dgain"
shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/>
+ <dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_pitch_igain"
shortname="pitch_igain" module="fw_h_ctl_a" handler="SetPitchIGain"/>
+ <dl_setting MAX=".3" MIN="0." STEP="0.001" VAR="h_ctl_pitch_of_roll"
shortname="pitch_of_roll" param="H_CTL_PITCH_OF_ROLL" module="fw_h_ctl_a"/>
+ <dl_setting MAX="5000" MIN="0" STEP="100"
VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
+
+ <dl_setting MAX="60" MIN="0" STEP="1" VAR="h_ctl_roll_max_setpoint"
shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT" unit="rad" alt_unit="deg"
alt_unit_coef="0.0174533"/>
+ </dl_settings>
+
+ <dl_settings NAME="feedforward">
+ <dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_roll_Kffa"
module="fw_h_ctl_a" shortname="roll_Kffa"/>
+ <dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_roll_Kffd"
module="fw_h_ctl_a" shortname="roll_Kffd"/>
+ <dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_pitch_Kffa"
module="fw_h_ctl_a" shortname="pitch_Kffa"/>
+ <dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_pitch_Kffd"
module="fw_h_ctl_a" shortname="pitch_Kffd"/>
+ </dl_settings>
+
+ <dl_settings name="alt">
+ <dl_setting MAX="0" MIN="-0.2" STEP="0.01" VAR="v_ctl_altitude_pgain"
shortname="alt_pgain" param="V_CTL_ALTITUDE_PGAIN"/>
+ </dl_settings>
+
+ <dl_settings name="climb">
+ <dl_setting MAX="2" MIN="0" STEP="1" var="v_ctl_speed_mode"
shortname="speed mode" values="THROTTLE|AIRSPEED|GROUNDSPEED">
+ <strip_button name="TH" value="0" group="speed_mode"/>
+ <strip_button name="AS" value="1" group="speed_mode"/>
+ <strip_button name="GS" value="2" group="speed_mode"/>
+ </dl_setting>
+ <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"
param="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE"/>
+
+ <dl_setting MAX="0" MIN="-0.1" STEP="0.001"
VAR="v_ctl_auto_pitch_pgain" shortname="pitch_p"
param="V_CTL_AUTO_PITCH_PGAIN"/>
+ <dl_setting MAX="0" MIN="-0.1" STEP="0.001"
VAR="v_ctl_auto_pitch_igain" shortname="pitch_i"
param="V_CTL_AUTO_PITCH_IGAIN"/>
+ <dl_setting MAX="0" MIN="-0.1" STEP="0.001"
VAR="v_ctl_auto_pitch_dgain" shortname="pitch_d" param="V_CTL_AUTO_PITCH_DGAIN"
module="fw_v_ctl_n"/>
+
+ <dl_setting MAX="0" MIN="-0.1" STEP="0.001"
VAR="v_ctl_auto_throttle_pgain" shortname="throttle_p"
param="V_CTL_AUTO_THROTTLE_PGAIN"/>
+ <dl_setting MAX="0" MIN="-0.1" STEP="0.001"
VAR="v_ctl_auto_throttle_igain" shortname="throttle_i"
param="V_CTL_AUTO_THROTTLE_IGAIN"/>
+ <dl_setting MAX="0" MIN="-0.1" STEP="0.001"
VAR="v_ctl_auto_throttle_dgain" shortname="throttle_d"
param="V_CTL_AUTO_THROTTLE_DGAIN"/>
+
+ <dl_setting MAX="0" MIN="-1." STEP="0.01" VAR="v_ctl_pitch_dash_trim"
shortname="dash trim" param="V_CTL_PITCH_DASH_TRIM"/>
+ <dl_setting MIN="0" MAX="1." STEP="0.01" VAR="v_ctl_pitch_loiter_trim"
shortname="loiter trim" param="V_CTL_PITCH_LOITER_TRIM"/>
+
+ <dl_setting MAX="1" MIN="0" STEP="0.01"
VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr"
param="V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"/>
+ <dl_setting MAX="1" MIN="0" STEP="0.01"
VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz"
param="V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"/>
+ </dl_settings>
+
+ <dl_settings name="airspeed">
+ <dl_setting max="40" min="5" step="0.1"
var="v_ctl_auto_airspeed_setpoint" shortname="as_sp"/>
+ <dl_setting max="2" min="0" step="0.01"
var="v_ctl_auto_airspeed_pgain" shortname="as_pgain"/>
+ <dl_setting max="2" min="0" step="0.01"
var="v_ctl_auto_airspeed_igain" shortname="as_igain"/>
+ <dl_setting max="40" min="5" step="0.1"
var="v_ctl_auto_groundspeed_setpoint" shortname="gs_sp"/>
+ <dl_setting max="2" min="0" step="0.01"
var="v_ctl_auto_groundspeed_pgain" shortname="gs_pgain"/>
+ <dl_setting max="2" min="0" step="0.01"
var="v_ctl_auto_groundspeed_igain" shortname="gs_igain"/>
+ </dl_settings>
+
+ <dl_settings name="nav">
+ <dl_setting MAX="-0.1" MIN="-3" STEP="0.05" VAR="h_ctl_course_pgain"
shortname="course pgain" param="H_CTL_COURSE_PGAIN"/>
+ <dl_setting MAX="2" MIN="0" STEP="0.1" VAR="h_ctl_course_dgain"
shortname="course dgain"/>
+ <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" param="NAV_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="2" MIN="1" STEP="1" VAR="nav_mode"/>
+ <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
+ <dl_setting MAX="20" MIN="-20" STEP="1" VAR="fp_pitch"/>
+ <dl_setting MAX="1" MIN="0" STEP="0.1" VAR="fp_throttle"/>
+ <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="nav"
handler="IncreaseShift" shortname="inc. shift"/>
+ <dl_setting MAX="50" MIN="5" STEP="0.5"
VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
+ <dl_setting MAX="0." MIN="-0.2" 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_setting MAX="0.3" MIN="0" STEP="0.01" VAR="cte_igain"/>
+ <dl_setting MAX="20" MIN="0" STEP="1" VAR="cte_max"/>
+ </dl_settings>
+ </dl_settings>
+ </dl_settings>
+</settings>
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