[paparazzi-commits] [5796] new setting options for beth.

[Paul Cox]

Revision: 5796
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5796
Author:   paulcox
Date:     2010-09-03 11:59:41 +0000 (Fri, 03 Sep 2010)
Log Message:
-----------
new setting options for beth.

Modified Paths:
--------------
    paparazzi3/trunk/conf/messages.xml

Added Paths:
-----------
    paparazzi3/trunk/conf/settings/settings_beth_reduced.xml
    paparazzi3/trunk/conf/settings/settings_beth_twist_old.xml

Modified: paparazzi3/trunk/conf/messages.xml
===================================================================
--- paparazzi3/trunk/conf/messages.xml  2010-09-03 11:58:06 UTC (rev 5795)
+++ paparazzi3/trunk/conf/messages.xml  2010-09-03 11:59:41 UTC (rev 5796)
@@ -179,7 +179,7 @@
     <field name="chn" type="uint8"/>
     <field name="SVID" type="uint8"/>
     <field name="Flags" type="uint8"/>
-    <field name="QI" type="int8"/>
+    <field name="QI" type="uint8"/>
     <field name="CNO" type="uint8" unit="dbHz"/>
     <field name="Elev" type="int8" unit="deg"/>
     <field name="Azim" type="int16" unit="deg"/>

Added: paparazzi3/trunk/conf/settings/settings_beth_reduced.xml
===================================================================
--- paparazzi3/trunk/conf/settings/settings_beth_reduced.xml                    
        (rev 0)
+++ paparazzi3/trunk/conf/settings/settings_beth_reduced.xml    2010-09-03 
11:59:41 UTC (rev 5796)
@@ -0,0 +1,11 @@
+<!DOCTYPE settings SYSTEM "settings.dtd">
+
+<settings>
+  <dl_settings>
+    <dl_settings NAME="Controller">
+
+      <dl_setting var="controller.armed" min="0" step="1" max="2" 
module="beth/overo_controller" shortname ="mode"/>
+
+    </dl_settings>
+  </dl_settings>
+</settings>

Added: paparazzi3/trunk/conf/settings/settings_beth_twist_old.xml
===================================================================
--- paparazzi3/trunk/conf/settings/settings_beth_twist_old.xml                  
        (rev 0)
+++ paparazzi3/trunk/conf/settings/settings_beth_twist_old.xml  2010-09-03 
11:59:41 UTC (rev 5796)
@@ -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>