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Code Issues Releases Activity

adjusted default fixed wing pathfollower settings to be more reasonable

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tags: dekenzification
This commit is contained in:
Corvus Corax 2013-07-11 14:02:05 +02:00
parent c1f32e9beb
commit 65f890982e
1 changed files with 5 additions and 5 deletions
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10
shared/uavobjectdefinition/fixedwingpathfollowersettings.xml
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@ -15,30 +15,30 @@
<field name="HorizontalPosP" units="(m/s)/m" type="float" elements="1" defaultvalue="0.05"/>
<!-- proportional coefficient for correction vector in path vector field to get back on course - reduce for fast planes to prevent course oscillations -->
<field name="VerticalPosP" units="(m/s)/m" type="float" elements="1" defaultvalue="0.05"/>
<field name="VerticalPosP" units="(m/s)/m" type="float" elements="1" defaultvalue="0.2"/>
<!-- proportional coefficient for desired vertical speed in relation to altitude displacement-->
<!-- these coefficients control actual control outputs -->
<field name="CoursePI" units="deg/deg" type="float" elements="3" elementnames="Kp,Ki,ILimit" defaultvalue="0.2, 0, 0"/>
<!-- coefficients for desired bank angle in relation to ground bearing error - this controls heading -->
<field name="SpeedPI" units="deg / (m/s)" type="float" elements="3" elementnames="Kp,Ki,ILimit" defaultvalue="1.5, .15, 20"/>
<field name="SpeedPI" units="deg / (m/s)" type="float" elements="3" elementnames="Kp,Ki,ILimit" defaultvalue="2.5, .25, 10"/>
<!-- coefficients for desired pitch
in relation to speed error IASerror -->
<field name="VerticalToPitchCrossFeed" units="deg / (m/s)" type="float" elementnames="Kp,Max" defaultvalue="5, 10"/>
<!-- coefficients for adjusting desired pitch
in relation to "vertical speed error -->
<field name="AirspeedToPowerCrossFeed" units="1 / (m/s)" type="float" elementnames="Kp,Max" defaultvalue="0.1, 1"/>
<field name="AirspeedToPowerCrossFeed" units="1 / (m/s)" type="float" elementnames="Kp,Max" defaultvalue="0.2, 1"/>
<!-- proportional coefficient for adjusting vertical speed error for power calculation
in relation to airspeed error IASerror -->
<field name="PowerPI" units="1/(m/s)" type="float" elements="3" elementnames="Kp,Ki,ILimit" defaultvalue="0.01,0.01,0.8"/>
<field name="PowerPI" units="1/(m/s)" type="float" elements="3" elementnames="Kp,Ki,ILimit" defaultvalue="0.05,0.05,0.5"/>
<!-- proportional coefficient for desired throttle
in relation to vertical speed error (absolute but including crossfeed) -->
<!-- output limits -->
<field name="RollLimit" units="deg" type="float" elements="3" elementnames="Min,Neutral,Max" defaultvalue="-35,0,35" />
<!-- maximum allowed bank angles in navigates flight -->
<field name="PitchLimit" units="deg" type="float" elements="3" elementnames="Min,Neutral,Max" defaultvalue="-10,5,10" />
<field name="PitchLimit" units="deg" type="float" elements="3" elementnames="Min,Neutral,Max" defaultvalue="-10,5,20" />
<!-- maximum allowed pitch angles and setpoint for neutral pitch -->
<field name="ThrottleLimit" units="" type="float" elements="3" elementnames="Min,Neutral,Max" defaultvalue="0.1,0.5,0.9" />
<!-- minimum and maximum allowed throttle and setpoint for cruise speed -->