[paparazzi-commits] [5712] new settings for new control algos

[Paul Cox]

Revision: 5712
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5712
Author:   paulcox
Date:     2010-08-26 15:48:08 +0000 (Thu, 26 Aug 2010)
Log Message:
-----------
new settings for new control algos

Added Paths:
-----------
    paparazzi3/trunk/conf/settings/settings_beth_sfb.xml
    paparazzi3/trunk/conf/settings/settings_beth_twist.xml

Added: paparazzi3/trunk/conf/settings/settings_beth_sfb.xml
===================================================================
--- paparazzi3/trunk/conf/settings/settings_beth_sfb.xml                        
        (rev 0)
+++ paparazzi3/trunk/conf/settings/settings_beth_sfb.xml        2010-08-26 
15:48:08 UTC (rev 5712)
@@ -0,0 +1,51 @@
+<!DOCTYPE settings SYSTEM "settings.dtd">
+
+<settings>
+  <dl_settings>
+    <dl_settings NAME="Controller">
+
+      <dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" 
module="beth/overo_twist_controller" shortname="elev_sp" unit="rad" 
alt_unit="deg" alt_unit_coef="57.29578"/>
+
+      <dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" 
module="beth/overo_twist_controller"  shortname="tilt_sp" unit="rad" 
alt_unit="deg" alt_unit_coef="57.29578">
+      </dl_setting>
+
+      <dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" 
module="beth/overo_estimator"  shortname="azim_gain">
+      </dl_setting>
+
+      <dl_setting var="controller.omega_tilt_ref" min="200" step="100" 
max="1200" module="beth/overo_twist_controller"  shortname="tilt_omega_ref" 
unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578">
+      </dl_setting>
+
+      <dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" 
max="1" module="beth/overo_estimator"  shortname="elev_lp_coeff">
+      </dl_setting>
+
+      <dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" 
module="beth/overo_estimator"  shortname="tilt_lp_coeff">
+      </dl_setting>
+
+      <dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" 
max="1" module="beth/overo_estimator"  shortname="azim_lp_coeff">
+      </dl_setting>
+
+      <dl_setting var="controller.ulim" min="0.1" step="0.1" max="50" 
module="beth/overo_twist_controller" shortname="ulim">
+      </dl_setting>
+      <dl_setting var="controller.Vm" min="0.001" step="0.01" max="200" 
module="beth/overo_twist_controller"  shortname="Vm">
+      </dl_setting>
+      <dl_setting var="controller.VM" min="100" step="10" max="600" 
module="beth/overo_twist_controller"  shortname="VM">
+      </dl_setting>
+      <dl_setting var="controller.satval1" min="0" step="0.1" max="100" 
module="beth/overo_twist_controller"  shortname="satval1">
+      </dl_setting>
+      <dl_setting var="controller.satval2" min="0.01" step="0.1" max="4" 
module="beth/overo_twist_controller"  shortname="satval2">
+      </dl_setting>
+      <dl_setting var="controller.c" min="0.001" step="0.01" max="10" 
module="beth/overo_twist_controller"  shortname="c">
+      </dl_setting>
+
+  <!--float ulim;  1 
+  float Vm; .1
+  float VM; 300
+  float satval1; 0.4
+  float satval2; 1
+  const float c;.04-->
+
+      <dl_setting var="controller.armed" min="0" step="1" max="2" shortname 
="mode"/>
+
+    </dl_settings>
+  </dl_settings>
+</settings>

Added: paparazzi3/trunk/conf/settings/settings_beth_twist.xml
===================================================================
--- paparazzi3/trunk/conf/settings/settings_beth_twist.xml                      
        (rev 0)
+++ paparazzi3/trunk/conf/settings/settings_beth_twist.xml      2010-08-26 
15:48:08 UTC (rev 5712)
@@ -0,0 +1,51 @@
+<!DOCTYPE settings SYSTEM "settings.dtd">
+
+<settings>
+  <dl_settings>
+    <dl_settings NAME="Controller">
+
+      <dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" 
module="beth/overo_twist_controller" shortname="elev_sp" unit="rad" 
alt_unit="deg" alt_unit_coef="57.29578"/>
+
+      <dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" 
module="beth/overo_twist_controller"  shortname="tilt_sp" unit="rad" 
alt_unit="deg" alt_unit_coef="57.29578">
+      </dl_setting>
+
+      <dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" 
module="beth/overo_estimator"  shortname="azim_gain">
+      </dl_setting>
+
+      <dl_setting var="controller.omega_tilt_ref" min="200" step="100" 
max="1200" module="beth/overo_twist_controller"  shortname="tilt_omega_ref" 
unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578">
+      </dl_setting>
+
+      <dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" 
max="1" module="beth/overo_estimator"  shortname="elev_lp_coeff">
+      </dl_setting>
+
+      <dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" 
module="beth/overo_estimator"  shortname="tilt_lp_coeff">
+      </dl_setting>
+
+      <dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" 
max="1" module="beth/overo_estimator"  shortname="azim_lp_coeff">
+      </dl_setting>
+
+      <dl_setting var="controller.ulim" min="0.1" step="0.1" max="50" 
module="beth/overo_twist_controller" shortname="ulim">
+      </dl_setting>
+      <dl_setting var="controller.Vm" min="0.001" step="0.01" max="200" 
module="beth/overo_twist_controller"  shortname="Vm">
+      </dl_setting>
+      <dl_setting var="controller.VM" min="100" step="10" max="600" 
module="beth/overo_twist_controller"  shortname="VM">
+      </dl_setting>
+      <dl_setting var="controller.satval1" min="0" step="0.1" max="100" 
module="beth/overo_twist_controller"  shortname="satval1">
+      </dl_setting>
+      <dl_setting var="controller.satval2" min="0.01" step="0.1" max="4" 
module="beth/overo_twist_controller"  shortname="satval2">
+      </dl_setting>
+      <dl_setting var="controller.c" min="0.001" step="0.01" max="10" 
module="beth/overo_twist_controller"  shortname="c">
+      </dl_setting>
+
+  <!--float ulim;  1 
+  float Vm; .1
+  float VM; 300
+  float satval1; 0.4
+  float satval2; 1
+  const float c;.04-->
+
+      <dl_setting var="controller.armed" min="0" step="1" max="2" shortname 
="mode"/>
+
+    </dl_settings>
+  </dl_settings>
+</settings>