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Fixes to altitude and AGL hold modes.

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curt 2004-02-04 16:22:36 +00:00
parent f2c9d6cbf0
commit 92f12971c1
1 changed files with 10 additions and 7 deletions
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17
Aircraft/Generic/generic-autopilot.xml
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@ -318,13 +318,13 @@
<prop>/autopilot/internal/target-climb-rate-fps</prop>
</output>
<config>
<Kp>2.0</Kp> <!-- proportional gain -->
<Kp>1.0</Kp> <!-- proportional gain -->
<beta>1.0</beta> <!-- input value weighing factor -->
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
<gamma>0.0</gamma> <!-- input value weighing factor for -->
<!-- unfiltered derivative error -->
<Ti>1000.0</Ti> <!-- integrator time -->
<Td>0.00001</Td> <!-- derivator time -->
<Ti>25.0</Ti> <!-- integrator time -->
<Td>0.000000001</Td> <!-- derivator time -->
<u_min>-16.67</u_min> <!-- minimum output clamp -->
<u_max>8.33</u_max> <!-- maximum output clamp -->
</config>
@ -369,7 +369,7 @@
<debug>false</debug>
<enable>
<prop>/autopilot/locks/altitude</prop>
<value>terrain-follow</value>
<value>agl-hold</value>
</enable>
<input>
<prop>/position/altitude-agl-ft</prop>
@ -377,14 +377,17 @@
<reference>
<prop>/autopilot/settings/target-agl-ft</prop>
</reference>
<output>
<prop>/autopilot/internal/target-climb-rate-fps</prop>
</output>
<config>
<Kp>1.0</Kp> <!-- proportional gain -->
<beta>1.0</beta> <!-- input value weighing factor -->
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
<gamma>0.0</gamma> <!-- input value weighing factor for -->
<!-- unfiltered derivative error -->
<Ti>10000.0</Ti> <!-- integrator time -->
<Td>0.00001</Td> <!-- derivator time -->
<Ti>25.0</Ti> <!-- integrator time -->
<Td>0.000000001</Td> <!-- derivator time -->
<u_min>-16.67</u_min> <!-- minimum output clamp -->
<u_max>8.33</u_max> <!-- maximum output clamp -->
</config>
@ -396,7 +399,7 @@
<debug>false</debug>
<enable>
<prop>/autopilot/locks/altitude</prop>
<value>terrain-follow</value>
<value>agl-hold</value>
</enable>
<input>
<prop>/velocities/vertical-speed-fps</prop>